Ac DC Servo Drive

Front & Back Cover 7/3/05 3:21 pm Page 3
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AC & DC Drives,
Servos and Motors
Product and Services Catalogue
April 2005
Index 7/3/05 3:19 pm Page 1
1 Control Techniques at a glance ............................................................6 2.3 Commander SX IP66 solutions ....................................................32

1.1 Control Techniques Solutions Through Innovation.............6 Overview..........................................................................................................32
1.2 Drive Centre Engineered Solutions ..................................................8 Feature performance .................................................................................33
Control Techniques
1.3 Drives, Servos & Controls that Deliver Productivity .........10 Ratings ................................................................................................................33
1.4 Product Matrix Overview.....................................................................12 Terminal diagram..........................................................................................34
Terminal description...................................................................................35
2 AC Drives - Simple and Easy...............................................................14 Specification.....................................................................................................36
Index
2.1 Commander SK Simplicity and Functionality ......................14 Dimensions......................................................................................................37

Overview..........................................................................................................14 Options..............................................................................................................37
Feature performance .................................................................................15 Drive Configuration & Programming .....................................38
Terminal diagram..........................................................................................16 Configuration Tool CTSoft
Terminal description...................................................................................16 Communication Cable
Specification.....................................................................................................17 XPressKey Memory
Dimensions......................................................................................................17 Operator Interface ...........................................................................39
Options..............................................................................................................18 6 button version
Drive Configuration & Programming .....................................19 Potentiometer version
Configuration Tool Display only
Programming Communications Cable Power Accessories............................................................................39
Cloning & Parameter Storage EMC filter
Operator Interfaces .........................................................................20 PX-Brake
Remote LED display Brake Resistors
Remote LCD display Input/Output........................................................................................40
Power Accessories............................................................................20 Extended I/O
EMC Filters Motor Feedback.................................................................................41
Braking resistors Encoder
Gland Cover Communication..................................................................................41
Top Cover RS485
Input/Output........................................................................................21 PROFIBUS-DP
Extended I/O INTERBUS
Extended I/O with Real Time Clock DeviceNet
Double Insulated Extended I/O CANopen
120V I/O
Communication..................................................................................22 3 AC Solutions Drives .....................................................................................42
MODBUS RTU 3.1 Unidrive 6 - The Solutions Platform........................................42
PROFIBUS-DP Overview..........................................................................................................44
DeviceNet Feature performance .................................................................................45
CANopen Ratings ................................................................................................................47
INTERBUS Terminal diagram..........................................................................................50
Ethernet Terminal description...................................................................................50
Programming Software ..................................................................23 Specification.....................................................................................................51
SyPTLiladder
Lite & function block program Dimensions......................................................................................................51
LogicStick memory for Lite Options..............................................................................................................52
2.2 Commander SE Simple and Easy .................................................24 Drive Configuration and Programming................................52
Overview..........................................................................................................24 SmartCard Parameter Cloning
Feature performance .................................................................................25 CTSoft Configuration Tool
Ratings ................................................................................................................25 Communications Cable
Terminal diagram..........................................................................................26 Operator Interface ...........................................................................54
Terminal description...................................................................................26 LED SM-Keypad
Specification.....................................................................................................27 LCD SM-Keypad Plus
Dimensions......................................................................................................27 HMI Range
Options..............................................................................................................28 Power accessories.............................................................................54
Drive Configuration & Programming .....................................28 Braking resistors
Configuration Tool SE Soft Internal fitting
Programming Communication Cable E Stop duty
QuicKey Cloning Tool Cyclic duty
Operator Interface ...........................................................................29 EMC filter ....................................................................................54
Universal Keypad Internal fitting
HMI Operator Interface External fitting
Power Accessories............................................................................30 Motor Feedback.................................................................................55
Cable Shield Clamps Universal Encoder Plus
EMC filter Encoder Plus
Braking resistors Resolver Input
Input/Output........................................................................................31 Encoder Terminal Connector
Network Communication............................................................31 Input/Output........................................................................................56
RS485 / Modbus RTU Extended I/O
PROFIBUS DP Extended I/O Plus
INTERBUS Extended I/O with Real Time Clock
DeviceNet Extended I/O 120V
CANopen Double Insulated Extended I/O
2 For further information, documentation and local support go to www.controltechniques.com

Index pp 3/3/05 3:44 pm Page 2
Communication..................................................................................56 5 DC Servo Drives and Motors..............................................................92

Modbus RTU 5.1 Maestro Range..............................................................................................92
PROFIBUS DP Overview ...............................................................................................92
Control Techniques
INTERBUS Feature performance ......................................................................92
DeviceNet Specifications........................................................................................92
CTNet Dimensions ...........................................................................................94
Index
CAN Ratings......................................................................................................94
CANopen Matador motors ...........................................................................................95
SLM Overview ...............................................................................................95
SERCOS Features...................................................................................................95
Ethernet Brake.........................................................................................................95
Application Co-processor Modules .......................................57 Tacho ........................................................................................................95
SM-Applications Dimensions ...........................................................................................95
SM-Applications Lite Drive & Motor Selection...............................................................96
SM-EZMotion Speed Torque Curves .....................................................................97
Application Programming Software .......................................58
SyPTLi
Lite 6 AC Servo Drives and Motors ..............................................................98
6.1 Unidrive 6 & Unimotor UM/EZ Servo Solutions............98
PowerTools Pro Overview..........................................................................................................98
Solutions Software............................................................................62 Feature performance ..............................................................................101
Dual Mode Winder Ratings..............................................................................................................103
Flying Shear Control Terminal diagram.......................................................................................104
Fan & Pump Duty Assist Terminal description................................................................................104
Unidrive 6 + Secure Disable............................................................65 Specification..................................................................................................105
Unidrive 6 + Secure Disable in Elevators .................................68 Dimensions ...................................................................................................105
Options...........................................................................................................106
Unidrive 6 Low Voltage Operation ............................................70
Drive Configuration & Programming ..................................106
Cloning & Parameter storage card
4 DC Drives ...............................................................................................................74 CTSoft Configuration Tool
4.1 Mentor II DC Solutions Drive ......................................................74 Communication cable
Overview..........................................................................................................76 Operator Interface ........................................................................108
Feature performance .................................................................................77 LED Keypad
Ratings ................................................................................................................77 LCD Keypad
Terminal diagram..........................................................................................78 HMI Operator Interfaces
Terminal description...................................................................................78 Power Accessories.........................................................................108
Specification.....................................................................................................79 Internally fitted brake resistor
Dimensions......................................................................................................79 E Stop duty resistors
Options/accessories....................................................................................80 Cyclic duty resistors
Configuration Tool (MentorSoft)..............................................80 Internal EMC filter
Operator Interfaces .........................................................................81 External EMC filter
Universal Keypad Motor Feedback..............................................................................109
HMI Operator Interfaces Universal Encoder
Input/Output........................................................................................81 Second Encoder
Remote I/O Resolver
Network I/O Encoder Terminal Connector
Field Regulation Input/Output .....................................................................................110
Communication..................................................................................82 Extended I/O
Modbus RTU Extended I/O with Real Time Clock
PROFIBUS DP Extended I/O Plus
Interbus Double Insulated Extended I/O
CTNet 120V I/O
DeviceNet Remote I/O
Modbus + Communication...............................................................................110
Application Co-processor Modules .......................................83 Modbus RTU
MD29 & MD29AN PROFIBUS-DP
Applications Programming Software .....................................84 INTERBUS
DeviceNet
12/24 Pulse Configuration ...........................................................86 CTNet
4.2 Small DC Drives .........................................................................................91 CAN Interface
Puma....................................................................................................................91 CANopen
Cheetah .............................................................................................................91 Ethernet
Lynx .....................................................................................................................91 SERCOS
4Q2 .....................................................................................................................91 SLM Interface
For further information, documentation and local support go to www.controltechniques.com 3

Application Co-processor Modules.....................................111 Terminal diagram.......................................................................................158

SM-Applications Terminal description................................................................................158
SM-Applications Lite Specification..................................................................................................158
Control Techniques
SM-EZ Motion Dimensions ...................................................................................................159

Application Programming Software.....................................112 MM55 motor...............................................................................................159
Lite Overview ............................................................................................159
Index
Specification .......................................................................................159
PowerTools Pro Dimensions ........................................................................................159
Solutions Software.........................................................................116 MiniAx & MM55 motor selection.........................................160
Flying Shear Control MiniAx & MM55 speed torque curves ..............................161
Unimotor EZ/UM .....................................................................................117 Power & Signal Cable selection ..............................................162
Overview ............................................................................................117
7 Motion Control...............................................................................................164
Nameplate detail ............................................................................117
Overview..................................................................................................................164
Dimensions ........................................................................................118
7.1 Decentralised Motion Control.......................................................165
Specifications .....................................................................................120
Overview.......................................................................................................165
Unidrive 6 & Unimotor UM Selection (400V)........122
Motion Made Easy with Unidrive 6
Unidrive 6 & Unimotor UM Speed Torque Curves (400V)...123
using Power Tools Pro................................................................166
Unidrive 6 & Unimotor EZ Selection (200V) ..........124
Overview
Unidrive 6 & Unimotor EZ Speed Torque Curves (200V) ...125
Savings
Power & Signal Cable selection ..............................................126
Performance
6.2 Epsilon & Unimotor EZ.......................................................................130
Unidrive 6
Overview ............................................................................................130
Application co-processor modules
Epsilon EB base drive operation ......................................................131 SM-EZMotion
Pulse mode ........................................................................................132 Application programming software
Velocity mode ..................................................................................132 PowerTools Pro
Torque mode....................................................................................132 Unidrive SP
Flexible I/O functionality.............................................................132 SM-EZMotion
Epsilon Ei compact indexing drive ..................................................133 Motion with Unidrive 6 and SyPTPr ..............................170
Indexing................................................................................................133 Overview
Jogging ...................................................................................................134 Savings
Homing.................................................................................................134 Performance
Flexible I/O functionality.............................................................134 Unidrive SP
Epsilon Ei-Dn DeviceNet .....................................................................135 Application co-processor modules
Dimensions ...................................................................................................137 SM-Applications Lite
Specifications................................................................................................137 SM-Applications
Ratings..............................................................................................................137 Application programming software
Unimotor EZ ...............................................................................................138 SyPTLi Lite
Overview ............................................................................................138
Specifications .....................................................................................138 PLCopen Motion Programming
Motor Dimensions.........................................................................139 CTSync
Ratings...................................................................................................139 Motion Functionality Summary
Epsilon & Unimotor motor selection..................................140 7.2 Centralised Motion Control ............................................................176
Epsion & Unimotor speed torque curves........................140 Overview.......................................................................................................176
Power & Signal Cable selection ..............................................141 Motion controller based SLM solution...............................176
6.3 Max & Unimotor SLM High Performace Servos .............144 MC Motion Co-ordinator ...............................................176
Overview of MAx & SLM technology.........................................144 Motion Perfect Programming Software
Feature performance ..............................................................................144 SLM technology overview...............................................178
Ratings..............................................................................................................147 Feature performance of MAx and
Terminal diagram.......................................................................................147 MultiAx Servos......................................................................180
Terminal description................................................................................148 MAx Servo .............................................................................181
Specification..................................................................................................149 Ratings
Dimensions ...................................................................................................150 Terminal Diagram
Options...........................................................................................................150 Terminal description
MAxSoft..............................................................................................150 Specification
Unimotor SLM............................................................................................151 Dimensions
Overview ............................................................................................151 MultiAx Servo........................................................................185
Specification .......................................................................................151 Ratings
Dimensions ........................................................................................152 Terminal Diagram
Ratings...................................................................................................153 Terminal Description
MAx & Unimotor SLM selection...........................................154 Specification
MAx & Unimotor SLM speed torque curves................155 Dimensions
Power & Signal Cable selection ..............................................156 Unimotor SLM ......................................................................186
6.4 MiniAx and MM55...................................................................................158 Overview
Overview ............................................................................................158 Specification
Feature performance....................................................................158 Performance data
Ratings...................................................................................................158 Dimensions

MAx & Unimotor SLM selection 12.3 Operator Interfaces ...............................................................................241

MAx & Unimotor SLM speed torque curves HMI.........................................................................................................241
MultiAx & Unimotor SLM selection SM Keypads ........................................................................................244
Control Techniques
MultiAx & Unimotor SLM speed torque curves Universal Keypad ............................................................................245
Power & Signal Cable selection 12.4 Power accessories...................................................................................246
Motion Control with SLM Partners.....................................194 Dynamic Braking Resistors........................................................246
Index
Trio Motion Line and Load Reactors .............................................................247
Delta Tau EMC Filters.........................................................................................248
Nyquist
Pantec 13 Soft Starters......................................................................................................250
Schliecher
14 Unimotors...........................................................................................................254
ISAC
Overview.......................................................................................................254
Ordering information .............................................................................255
8 PLC Functionality with Unidrive 6.......................................208 Features...........................................................................................................256
Overview.......................................................................................................208 Specification..................................................................................................257
Savings..............................................................................................................208 Nameplate.....................................................................................................257
Performance.................................................................................................208 Performance data (std motor)..........................................................258
Unidrive 6...............................................................................................209 Performance graphs (3000rpm).......................................................259
Applications Co-processor Modules .............................................209 Performance data (UL motor)..........................................................262
SM-Applications...............................................................................209 Dimensions ...................................................................................................264
SM-Applications Lite.....................................................................210 Feedback devices ......................................................................................265
Application Programming Software ...............................................210 Brake.................................................................................................................266
Overview ............................................................................................210 Servo Gearboxes ......................................................................................267
SyPTLi....................................................................................................211
Lite Power and Signal cables ........................................................................268
....................................................................................................211
Levels of PLC functionality................................................................214 15 AC Motors (Inverter rated)...............................................................276
LSMV Inverter Rated ..............................................................................276
9 Set-up & Configuration Software.................................................216
Drive Configuration Tools ....................................................................216 16 DC Motors ..........................................................................................................280
Drive Sizing Software CTSize .......................................................218
17 Linear Motors ..................................................................................................284
Energy Saving Tool CTSave.............................................................219
Overview.......................................................................................................284
Applications ..................................................................................................284
10 Application Programming Software ...........................................220 Comparison of Linear & Rotary Motors.....................................284
Overview ............................................................................................220 Linear Motors suitable for Unidrive 6 ...................................285
Applications Co-processor Modules...................................220 Iron core synchronous
Lite .....................................................................................................220
Ironless core synchronous
....................................................................................................221 Tubular
Solutions Software.........................................................................224 Unidrive 6 configuration parameters......................................286
Power Tools Pro ..............................................................................228 Autotune........................................................................................................287
11 Automation Hierarchy selection...................................................230 18 Training at Control Techniques.......................................................288

Overview ............................................................................................230
Centralised .........................................................................................230 19 Symbols, Formulae and Conversion Tables.........................290
Decentralised....................................................................................231 Symbols and Formulae ..........................................................................290
Hybrid ...................................................................................................231 Protective Enclosures..............................................................................291
OPC Server.......................................................................................233 Electrical Formulae ...................................................................................293
Mechanical Formulae ..............................................................................294
12 Networking Communications .........................................................234 Inertia...............................................................................................................296
Servo Formulae..........................................................................................298
12.1 CTNet.............................................................................................................234
Rectifier Power Conversion Formulae .........................................300
Overview ............................................................................................234
Mechanical Conversion Tables...........................................................301
Application Co-processor Modules.....................................234 General Conversion Tables..................................................................304
Network Accessories...................................................................235
PC Network Interface Cards ..................................................235
Remote I/O........................................................................................235
HMI Operator Interface.............................................................235
Application Programming Software.....................................236
12.2 Fieldbus...........................................................................................................237
PROFIBUS-DP..................................................................................237
DeviceNet ..........................................................................................237
INTERBUS ..........................................................................................237
CANopen...........................................................................................238
CAN ......................................................................................................238
CTNet...................................................................................................238
SERCOS...............................................................................................238
Ethernet ...............................................................................................239

chapter 1 pp 3/3/05 3:50 pm Page 6
Control Techniques
Solutions through Innovation
Control Techniques
Solutions through
Innovation
Innovation and application know-how has made Control
Techniques one of the worlds leading suppliers of drives,
servos, controls and drive systems. Building on its ground
breaking technologies and engineering excellence Control
Techniques supplies todays diverse industry with a wide
variety of motion control solutions from the simple to the
intricate setting the standard with innovative design geared The Commander SK above is the newest AC drive from
to machine productivity. Control Techniques, and is targeted at the simple and compact
A History of Firsts open loop drive market. Many of the Unidrive 6s
Control Techniques has shaped the history of drives and innovations have been incorporated in this very economical
controls. It was among the first to offer an AC flux vector general purpose drive.
drive, and introduced the first digital DC drive, the first fully
integrated servo drive, and the first universal AC and Servo
drive the Unidrive.
Strength through Synergy

The recent introduction of the second generation Unidrive 6
Control Techniques and our customers benefit from the
- the benchmark for all AC and Servo drive technology has
strength, stability and synergy of being part of Emerson
seen Control Techniques consolidate its position as the leader
(NYSE: EMR), a $15.6 billion company with over 60 divisions.
in the field of drive based intelligence. Multiple operating
Control Techniques and Emerson companies often work
modes, cost saving standard features and universal solution
together to offer innovative and comprehensive solutions to
modules make the Unidrive 6 the most flexible and easily
our customers. Across applications and industries the synergy
integrated high performance solutions drive available today.
of Emerson and its divisions ensures that customers are always
Expert Global Support the focus of our attention.
Control Techniques supports an installed base of over two
million drives throughout its fifty Drive and Application
Centres located in over 30 countries.This network is backed
up with an infrastructure of dedicated distributors in countries
not covered by the Drive Centre network.
This network is uniquely focussed on the application of drives
into machines with the express intention of giving the users
greater control and/or productivity from their new or existing
machine or process. Application support, documentation, field
service are all available 24/7 to help our customers deliver on
their promises.

Customer focussed from concept to

control solution
Solutions through Innovation

Control Techniques
With its manufacturing headquarters and purpose built
research and development based in Newtown, UK, Control
Techniques has become a global no-compromise drive Control Techniques gives
supplier dedicated to the provision of customer driven users all the tools and options
solutions that deliver productivity improvements. needed to tailor the drives to
the application and operating
environment. Often this is
accomplished using option
modules, which can provide
expanded I/O, additional
feedback options, fieldbus
connectivity and greater
programming flexibility.
Drive & Servo Range

From its 14000sqm highly automated state of the art
at a Glance
manufacturing facility, the team of engineers and skilled
AC Drive kW 0.18 0.25 0.37 0.75 1.1 2.2 4 7.5 15 30 37 75 400 1200
operators oversee the production of drives and servos to the Commander SX
very highest quality using the latest manufacturing techniques. 200V
400V
Control Techniques Commander SK
200V
drives enable
400V
customers to deploy Commander SE
200V
highly productive,
400V
easy to use motion Unidrive 6
200V
solutions. Beyond
400V
achieving superior 575V
690V
performance
characteristics, the
design philosophy of Control Techniques is guided by customer DC Drive kW 0.18 0.25 0.37 0.75 1.5 2.2 4 7.5 15 30 37 75 340 750
Puma
input to produce truly user friendly control solutions. As a 220V
result the drives are ergonomically designed for quick Cheetah

220V
installation, simple set up, and easy maintenance; software tools Lynx
are intuitive, consistent and flexible; and many advanced 220V
400V
features are built into the drive as standard. 4Q2
220V
Modular controls enable 400V
drives to be tailored to Mentor II
200V
the application.The 400V
SM-Applications modules snap
into the Unidrive 6 and Servo (A) Cont. 1.8 3.5 7 9.5 12 15 18 20 30 45 60 80 100 125 190 210
allow a wide variety of Epsilon
200V
integration activities to be Max
undertaken easily and elegantly 400V
MultiAx
to give a truly scalable, tailored 400V
solution. PLC functionality without having to resort to typical Unidrive 6
200V
PLC cost implications can be achieved using a combination of 400V
SM-Applications modules and ladder and function 575V
690V
block programming.

Drive Centre Engineered Solutions

Control Techniques
Integrating drive solutions that deliver productivity

Control Techniques, established in 1973,
are world leaders in the design and
assembly of AC and DC drives and servos
for the precise control of electric motors
in machines and manufacturing processes.
Our unique focus is based on

understanding your machine and process
requirements and then integrating the best
drive or servo solution to ensure you
achieve maximum productivity at the
lowest lifecycle cost.This machine-level
drive integration approach requires a high
degree of industry knowledge from
qualified application engineers. Our global
network of Drive Centres are staffed by
dedicated drives engineers focussed on
how best to integrate our drives into
your application.
Local understanding of your machine

or process
Collaborative solution design
for productivity
Precision drive-to-drive synchronisation with CTSync on the Unidrive has revolutionised the
Tailoring the drive solution to the
machine or process
printing industry with new, jitter free 8- and 10-colour flexographic presses. Retrofits with this
gearless technology are giving older presses new life and greater flexibility.
Local understanding of your machine or process

From elevators to hot rolling mills,
from packaging machines to fans and
pumps, variable speed drives and
servos have a huge variety of
applications. Control Techniques
through its network of Drive Centre
engineers has the local expertise to
talk your language, and to understand
how you machines and processes can
benefit from the addition of precision
drives and servos.
Local engineers that are familiar

with your applications and issues
and available 24/7
Understanding of local and
industry compliance and
conformance issues
Focus on integrating the drive or
servo to best enhance the
machines performance
Customers turn to Control Techniques for standard and customised automation solutions that
deliver productivity.


Control Techniques
Collaborative design to lower costs
Todays machine designers are continually
searching for productivity enhancements,
and our application engineers are
integrating solutions drives in such a way
as to make productivity improvements a
reality at a lower total cost. Getting the
best from integrating drives and servos into
varied applications requires our engineers
to be experts at matching the features of
the drive with the customers knowledge of
his process to deliver tangible benefits.The
Solutions Platform product portfolio from
Control Techniques makes this a reality.
Matching drive integration features to

application or machine productivity goals
True solutions platform drive approach
based on incorporating years of
experience into new drives
Local experts always on hand to review
and configure the solutions
Flexible approach to engineering
support and application software
programming This oval-tube packaging printer has over 40 servomotors and several AC induction motors.
Cost savings were achieved using the Unidrive 6 with an SM-Applications module together
Highly qualified applications engineers
focussed on drives and servos with several Commander SE drives to complete this one-of-a-kind machine.
Tailoring the drive solution to the application

The key to successful drive integration
projects stems from the flexibility of the
drive, its options, its on-board intelligence
and the different levels that these can be
tailored to fit. From a clear understanding
of the machine or process our drive
engineers can tailor the solutions platform
to deliver exactly the right integration
solution no more, no less than required.
The flexibility of the drive and its features
allows perfect matching of the drive to the
application and the most cost effective.
Versatility of the drive solution

platforms across industries and
applications
Adapt and scale the solution to cost
effectively match the application
Fieldbus flexibility to talk your language
Scalable drive-based PLC intelligence
to release the true power of the drive
technology
Unidrives integration flexibility is making it the standard drive in automobile plants around the
world.The rolling test rig performs simulated road testing of front-wheel, rear-wheel and four-wheel
drive vehicles, checking motor, brake, and gearbox performance and road-noise decibel levels.

Drives, Servos and Controls that deliver productivity

Drives, Servos and Controls
Control Techniques
Simple and Easy Drives

From cubicle based solutions in the form of Commander SK
and Commander SE, to cubicle-free AC drives in
Commander SX, the range offers users simplicity and
functionality.The simple and easy approach to turning the
motor shaft is the key to the Commander range but, in
keeping with the Control Techniques approach to drive
design, there are considerable solution integration options
and possibilities to enable the discerning machine builder or
process engineer to lower their overall costs.This is evident
from the extra integration options available from
Commander SK.
Solutions Platform Drives

The Unidrive 6 AC range and the Mentor range of DC
drives offer professional machine designers and process
engineers unparalleled flexibility and integration possibilities
for improving the performance of their machine or process.
Drive Centre application engineers adapt the features and
options of these Solutions drives and, via consultation and
discussion, tailor these to your application.
Servos Drives
Unidrive 6 is a class leading servo
drive which with our other servo
drives and motors offer engineers
with responsibility for machine
design the possibilities of
integrating high performance
motor control into their
applications.

Drives, Servos and Controls

Control Techniques
High Performance Motion Co-ordination Application software programming
Accurate and dynamic control of multiple axis machinery Our Drive Centre engineers have years of experience in
requires a clear understanding of the application.The developing, writing, and programming drives in all industrial
integration of Control Techniques drives into centralised applications. Using IEC61131-3 ladder and function block
(either PLC based, PC based, controller based) or programming, complex routines, once only possible using a
decentralised solutions for the control of PLC, can be written and carried out using
complex multi-axis solutions the internally fitted options such as the
demands high performance SM-Applications co-processor.
drives and motors such
as Unidrive 6,
MAx, MultiAx Control Systems
and Epsilon. The Drive Centre concept brings
customers a compelling competitive
advantage in being able to adapt
our drives and servos into the
most appropriate control system
to meet their needs, and having
designed the systems we can
build, write software, test and
commission
locally.

GENERAL PURPOSE AC DRAWINGS

Product Range
Control Techniques
Commander Commander Commander

SE SX SK
Product Matrix
Drives
Control Technology Open Loop Open Loop Open Loop

Power 0.25 to 37kW 0.75 to 7.5kW 0.25 to 4kW
200V 1 phase 200V 1 phase 200V 1 phase
AC Voltage
50/60Hz 10%
Max Frequency 1000Hz 1000Hz 1500Hz
Configuration & SESoft SXSoft CTSoft

Programming CT Comms Cable CT Comms Cable CT Comms Cable
Memory Quickey XpressKey SmartStick
Power On board filter On board filter
External filter
Accessories External filter External filter
PX Encoder for
Motor Feedback Open Loop Open Loop
incremental encoders
Input Output Input Output Input Output

Input/Output Digital 5 1 Digital 5 1 Digital 5 1
on board Analog 2 1 Analog 2 1 Analog 2 1
Relay 1 Relay 1 Relay 1
SM-I/O Lite
SM-I/O Timer with
Input/Output real time clock
PX I/O Extended I/O
options SM-PELV Double insulated
I/O to NAMUR specification
SM-I/O 120V
MODBUS
MODBUS MODBUS
SM-PROFIBUS DP
SE-PROFIBUS DP SM-PROFIBUS DP
SM-DeviceNet
Communication SE-DeviceNet SM-DeviceNet
SM-CANopen
SE-CANopen SM-CANopen
SM-INTERBUS
SE-INTERBUS SM-INTERBUS
SM-Ethernet
Application
LogicStick
Co-processor Modules
Application SyPTLite
Lite IEC61131-3 ladder
Programming and function block programming
Software
Solutions
Software
UL, CUL. CE, C-Tick, ISO14001, UL, CUL. CE, C-Tick, ISO14001, UL, CUL. CE, C-Tick, ISO14001,
Approvals
ISO9001:2000 ISO9001:2000 ISO9001:2000

SOLUTIONS PLATFORM AC AND DC DRIVES

Unidrive 6 Product Range
Control Techniques
Mentor II
Product Matrix
Drives
Open loop, Closed loop, Servo, Regen Closed loop Control Technology
0.75 to 1200kW 3.75 to 750kW Power
200V 1 phase 200V 3 phase
200V 3 phase, 400V 3 phase AC Voltage
400V 3 phase 575V 3 phase
525V 3 phase, 600V 3 phase 50/60Hz 10%
690V 3 phase
3000Hz (Open Loop)
Max Frequency
1250Hz (Closed Loop)
CTSoft Configuration &
MentorSoft
CT Comms Cable Programming
SmartCard Memory
On Board Filter, External Filter Braking Resistor, External Filter Power
Braking Resistor FXM Field Regulator Accessories
On Board Universal Encoder Port
SM-Resolver Tacho
Motor Feedback
SM-Encoder Plus Encoder
SM-Universal Encoder Plus
Input Output
Digital 4 3* Input Output
Input/Output
Analog 3 2 Digital/Logic 12 7 on board
Relay 1 Analog 5 5
*Programmable in/out
SM-I/O Lite
SM-I/O Plus, SM-I/O 120V
SM-I/O Timer with real time clock I/O Box Input/Output options
SM-PELV Double insulated I/O to Remote I/O
NAMUR specification
Remote 1/O
MODBUS
SM-PROFIBUS DP
SM-DeviceNet MODBUS
SM-CANopen PROFIBUS DP
SM-INTERBUS DeviceNet
Communication
SM-Ethernet Modbus Plus
SM-CAN INTERBUS
SM-SERCOS CTNet
SM-SLM
CTNet
SM-Applications Lite Application
MD29, MD29AN
SM-Applications, SM-EZMotion Co-processor Modules
SyPTPro IEC61131-3 ladder Application
and function block programming SyPTPro IEC61131-3 ladder
Programming
SyPTLite
Lite a subset of and function block programming
Software
PowerTools Pro
Solutions
Winder, Fan and Pump Duty Assist, Flying Shear Winder, Flying Shear
Software
UL, CUL. CE, C-Tick, ISO14001, ISO9001:2000 UL, CUL. CE, C-Tick, ISO14001, ISO9001:2000 Approvals

Commander SK
Simplicity with Functionality
OVERVIEW
Commander SK has been designed as a simple, compact,
cost effective AC motor speed controller that delivers
performance with simplicity and ease of use. With all the
parameters you need for 90% of applications printed on the
front of the drive, Commander SK ensures installation and
commissioning are straight forward.
Pump Material
drives
Commander SK
s i m p l e Accurate Control Payoff

in Performance
Overview
However, for more demanding applications, Commander SK

can deliver the benchmark functionality of its larger Solutions
Platform products and at no extra cost on the base drive itself.
Plug-in options, dynamic performance, PLC functionality and
other benchmark features ensure that in more complex
applications Commander SK can deliver more than the average
general purpose drive giving you lower cost solutions and Fan Multiple Motor
better productivity in your motor control applications. Energy Saving Open Loop V/Hz
From 0.25 to 2.2kW, 1 phase 200V

Simplicity
Easy to set-up all the parameters you need Extruder Conveyor
Smooth Acceleration
(90% of typical applications) are printed on the front Reliability
Easy installation choose between simple panel

mounting and DIN-rail mounting (up to 1.5kW)
Simple connections easy access terminals with
clear marking
Simple start-up easy push button set-up
no need for complex programming
Functionality Mixer
Simple and Easy
Communications the popular global fieldbus
options are available PROFIBUS-DP, INTERBUS,
DeviceNet, CANopen, Ethernet
PLC Functionality LogicStick and IEC61131-3 Size A Size B & C
ladder and function block programming
Submitted
Wide range of I/O extra I/O options available
for UL listing
including Real Time Clock E171230
Performance inherits the torque linearity and
speed torque performance from the Solution 00
1:20
00
IS O 9
Platform products
AL
A
V
PPRO

FEATURE PERFORMANCE RATINGS
Open loop vector control with true space 200 to 240V 10% 48 to 62Hz
vector modulation Order Frame Motor Input Contin. Overload
Code Size kW1 Phases Output Current2
Precise control algorithm provides full torque down to
Current (A)
1 Hz for exceptional performance (A)
Access to multiple parameter levels SKA1200025 A 0.25 1 1.7 2.6
Customises the drive to meet each users needs: SKA1200037 A 0.37 1 2.2 3.3
simple (level 1), flexible (level 2) and advanced (level 3) SKA1200055 A 0.55 1 3.0 4.5
SKA1200075 A 0.75 1 4.0 6.0
SmartStick cloning module
SKBD200110 B 1.1 1 or 3 5.2 7.8
Provides fast and cost-effective drive-to-drive parameter
SKBD200150 B 1.5 1 or 3 7.0 10.5
transfer and storage with no PC required
SKCD200220 C 2.2 1 or 3 9.6 14.4
Feature Performance; Ratings

Terminal connection drawings and Level 1
380 to 480V 10% 48 to 62Hz
Commander SK
parameters (10) listed on the drives front cover
Order Frame Motor Input Contin. Overload
On-the-spot easy reference for drive set-up Code Size kW1 Phases Output Current2
and maintenance Current (A)
(A)
Static auto-tune
SKB3400037 B 0.37 3 1.3 2.0
Allows fast motor / drive optimisation without motor
SKB3400050 B 0.55 3 1.7 2.6
shaft rotation
SKB3400075 B 0.75 3 2.1 3.2
Two sets of motor map parameters saved in the SKB3400110 B 1.1 3 2.8 4.2
drives memory
SKB3400150 B 1.5 3 3.8 5.7
Allows sequenced switching between two motors with SKC3400220 C 2.2 3 5.1 7.7
different operating characteristics SKC3400300 C 3.0 3 7.2 10.8
Configurable analog and digital I/O SKC3400400 C 4.0 3 9.0 13.5
Customises drive to the specific application 1 Motor power is based on four pole, 230 / 460 VAC NEMA ratings.
2 Overload: 150% for one minute.
S-ramp accel / decel profiling
Order Code
Provides smooth speed transitions, minimising
SK X X XX XXXX
machine jerk
Drive Kilowatt Rating
Built-in independent PID control
Eliminates the need for an external PID controller while Drive Voltage Rating: 20 = 200-240 VAC
providing outer loop control of a process variable 40 = 380-480 VAC
Real Time Clock option Input Phase: 1 = 1ph, D = 1ph & 3ph, 3 = 3ph
Size: A, B, C
For scheduling and timing operations
Commander SK product family name
Wide range of industry standard fieldbuses
Modbus RTU (Standard), PROFIBUS-DP, INTERBUS,
DeviceNet, CANopen, Ethernet
Replace nano and micro PLCs by using
LogicStick and IEC61131-3 ladder and function
block programming

TERMINAL DIAGRAM
reference input
reference input
Remote speed
+10V output
Local speed
Fault
Modbus RTU (RS485) OK
0V
Serial Communications
T1 T2 T3 T4 T5 T6
Status
Relay
L1 L2 L3/N U V W
0-20mA
4-20mA
10k
(2k min)
0V
Local/Remote speed
Terminal Diagram;Terminal Description
reference select
Analog output
(motor speed)
Enable/Reset
Digital output
Run Forward
Run Reverse
+24V output
AC Supply
(zero speed)
(Not Stop)*
Commander SK
(Run)*
(Jog)*
DC DC
+ PE PE B1 B2 B3 B4 B5 B6 B7
V
+ Brake
DC
Resistor
0-10V
+24V *USA defaults Pr29 = USA
0V
TERMINAL DESCRIPTION
Ter. Type/Description Default function Notes Ter. Type/Description Default function Notes
T1 0V Common Common for External B4 Digital Input Enable/Reset 0 to 24 VDC,
Analog Signals (not stop) 6.8k Ohms
T2 Analog Input 1 (A1) Single-ended 0 to +10 VDC, Update Time 1.5ms
1 either voltage Analog Input 100k Ohms, B5 Digital Input Run forward 0 to 24 VDC,
or current Sample Time 6ms (run) 6.8k Ohms
T3 +10 VDC Reference Supply 5 mA max Update Time 1.5ms
Short Circuit B6 Digital Input Run reverse 0 to 24 VDC,
Protected (jog) 6.8k Ohms
T4 Analog Input 2 (A2) Single-ended 0 to +10 VDC (AI), Update Time 1.5ms
or Digital Input Analog Input 0 to +24 VDC (DI) B7 Digital Input Local/Remote 0 to 24 VDC,
Sample Time 6ms Speed reference 6.8k Ohms
T5 Status Relay 240AC select A1/A2 Update Time 1.5ms
T6 (Normally open) Drive healthy 30 VDC,
2A/6A resistive Programmable Analog Programmable Digital
B1 Analog Output 1 Motor speed 0 to +10 VDC All Analog I/O is scalable
single ended Unipolar @ 5 mA max
Update Time 6ms 1 4-20, 20-4, 0-20, 20-0mA are also available. See Commander SK Getting Started Guide.
B2 +24 VDC Output User Supply 100 mA max () Brackets indicate North American default function when different.
B3 Digital Zero speed 0 to 24 VDC,
(Output) 6.8k Ohms input
Update Time 1.5ms

SPECIFICATION Approvals & Listings

Control
UL, cUL UL File Listed 8D14
Open loop vector control
IEC Meets IEC Vibration, Mechanical Shock
Speed or torque control and Electromagnetic Immunity Standards
Speed reference input: 0-10 V, 0-20 mA, 4-20 mA, CE Low Voltage Directive
(-10 to +10 V SM-I/O Lite option)
NEMA NEMA 1 enclosure type
4 digital inputs
World (enable, run forward, run reverse, local/remote) ISO 9001:2000 Certified Manufacturing Facility
USA (not stop, run, jog, local/remote) ISO 14001 Certified Manufacturing Facility
Switching frequency: 3 (default) 6 12 18 kHz
Output frequency 0 to 1500 Hz DIMENSIONS (mm)
Accel and Decel ramps (linear and S type) w h d
Positive logic control Drive
size mm mm mm
Specification; Dimensions
Serial communication
Commander SK
A 75 140 145
Modbus RTU RS485 via R J45 connector
B 85 190 156
Baud rate 4800, 9600, 19200 or 38400 bits per second
C 100 240 173
DC injection braking as standard
Dynamic braking transistor as standard d
Dynamic motor flux V/Hz for energy saving

Quadratic motor flux V/Hz for fan and pump optimisation
Protection
Undervoltage, Supply and DC Link overvoltage, Phase loss,
Drive overload, Instantaneous overcurrent, Short circuit,
h
Ground fault, Drive thermal, Watchdog, Motor thermal
General Characteristics
Maximum overload 150% of rated current for 60s
Intelligent Thermal Management (ITM) optimises
switching frequency
8 preset speeds
Flying start w
Mains dip ride through
Automatic no-spin autotune for fast performance optimisation
Keypad access to all parameters for more demanding set-ups
Environment
IP20
NEMA 1 rating with optional cover
Ambient temperature -10 to +40C @ 3 kHz switching
Humidity 95% maximum (non-condensing)
Electromagnetic Immunity complies with EN61800-3
and EN61000-6-3 and 4
Electromagnetic Emissions complies with EN61800-3
(second environment) as standard. Complies with
EN61000-6-3 (residential) and EN61000-6-4 (industrial)
generic standards with optional footprint EMC filter

OPTIONS
Overview
Commander SK has been designed to offer simplicity, but with
the impressive selection of benchmark options and standard
features it also offers functionality that enables users to get
more productivity from their machines.
Users that scratch the surface of this simple drive will reveal a
list of dynamic yet functional options that owe a lot to the
ground breaking Solution Platform products such as Unidrive
6, that are in the Control Techniques product portfolio.
Options At-A-Glance Panel

mounting...
Option Description Order Code (DIN-rail up to
1.5 kW)
Commander SK
Configuration Tool CTSoft

Drive
RS232/485 Cable CT Comms Cable
Motor
Options
Configuration
Cloning and SmartStick
& Programming status
parameter storage readout
Remote LED display SK-Keypad Remote
Operator Remote LCD display SM-Keypad Plus
Interfaces HMI Operator See Section 12.3 Stop/Go/
Interfaces Change
Internal EMC Filter Standard
External EMC Filter To fit drive
Braking Resistor To fit drive Preset
Power
Bottom metal gland Gland cover program
plate cover Size A, B or C upload slot...
Accessories
Top cover for Top cover
NEMA 1 installations Size A, B or C
Universal cable SK-Bracket Easy set up
management bracket instructions
Extended I/O SM-I/O Lite
Extended I/O plus SM-I/O Timer
Input/Output Real Time Clock Clearly marked,
Double Insulated SM-PELV practically sized
Extended I/O
connectors
120V Extended I/O SM-I/O 120V
Modbus RTU Standard Serial communications
PROFIBUS-DP SM-PROFIBUS-DP
DeviceNet SM-DeviceNet
Communication
CANopen SM-CANopen
INTERBUS SM- INTERBUS
Ethernet SM-Ethernet
Application Ladder and function SyPTLite
Lite
Programming block programming

Software Memory for SyPTLite LogicStick
(IEC61131-3) Lite program

DRIVE CONFIGURATION AND Communications Cable

PROGRAMMING Using an isolated
Drive Configuration Tool serial to RS485
converter you can
CTSoft software is a complimentary PC or laptop Windows
connect the PC/
based drive configuration tool designed to enable the
laptop to the RJ45
complete control and display of all parameters within a
serial port on the
Commander SK. Functions within CTSoft allow data to be
front of the drive.
uploaded, viewed and saved, or retrieved from disk, modified
A special pre-made
and printed. It can be used off-line in the office or on-line in
cable is available from
the factory. CTSoft communicates with the Commander SK via
Control Techniques for this purpose this same cable is also
the computers serial port to the drives RS485 port using a
used with other Control Techniques products that use a RJ45
communications cable (CT Comms Cable).
RS485 connector such as the Unidrive 6.
Some of CTSofts capabilities include:
Remote Upload/Download Description Order Code
PC to Drive Accessories
Commander SK
PC-to-drive Comms Cable CT Comms Cable
Parameter Saving USB-to-drive Comms Cable USB CT Comms Cable
Monitor Screens
Multiple Window Display SmartStick
Block Diagram Animation This option enables the simple set up of parameters in a
Project Storage variety of ways.The SmartStick can:
Clone a complete set of parameters from the first drive to
multiple drives (perfect for serial production)
CTSoft IS SUPPLIED WITH THE DRIVE
OR YOU CAN DOWNLOAD FROM Download parameter settings to the drive to easily set up
www.controltechniques.com/download.htm your application
Automatically save the user parameter set up for storage
and maintenance purposes
Load complete motor map parameters
The drive only communicates with the SmartStick

when commanded to read or write, meaning
that it may be hot swapped.
Description Order Code

Cloning and SmartStick
parameter storage

OPERATOR INTERFACES
Keypad Options POWER ACCESSORIES
Dynamic Braking Resistors
The Commander SK can operate and be set up using the
standard fixed keypad, or with either the SK-Keypad Remote Dynamic braking resistors provide a means of rapidly
or SM-Keypad Plus.The SK-Keypad Remote is a full-function, decelerating or stopping the motor and load.The mechanical
7-digit LED data display.The SM-Keypad Plus is a back-lit LCD energy stored in the spinning mass is converted into electrical
display option that can be remote mounted, has 5 languages, energy by the drive and then quickly dissipated into the resistor.
plus custom text database, on-line help, and HMI features. Both Onboard EMC Filter
keypads are hot-pluggable, enabling them to be moved from
one drive to another without powering down.
Onboard EMC
SK- SM- Filter
Operator Interfaces; Power Accessories
Keypad Keypad
Remote Plus
Commander SK

Remote panel mounting LED SK-Keypad Remote
display to IP54 (NEMA 12)
with additional function key
Remote panel mounting LCD SM-Keypad Plus
multilingual text keypad
display to IP54 (NEMA 12)
with additional help key
Operator Interface Unit (HMI)

The HMI operator interface units have a range of features An internal EMC filter is provided as standard with the
including a back-lit LCD display and easy-to-use navigation keys. Commander SK which is adequate for most industrial
Using the intuitive WYSIWIG page editor, they can be applications.The drive and filter conforms to EN61800-3
programmed to display a variety of menus, submenus, alarms, (second environment). For installations where it is deemed
fault conditions and other critical information.The HMIs support necessary, Control Techniques provide a range of addition
a range of capabilities including multiple font sizes, real time external EMC filters.The internal filter can be easily removed if
trends and graphs, scheduling and background programs.They the drive is to be used on IT supplies or with low earth
communicate* via Modbus RTU and, to simplify installation, some leakage external EMC Footprint filters.
HMIs are rated IP54 and require no screw mounting holes. External EMC filters
For more information, refer to the Network Communications EMC filters are used to minimise high frequency power supply
Section 12.3. line disturbances caused by PWM AC drives that may interfere
with proper operation of sensitive electronic equipment.
These specific filters have been assessed for conformance
with the EMC directive by testing with the
appropriate Control Techniques drives.
VT155W Two Mounting Styles in One
HMI 200
Bookend: filter mounts next to the drive with the
smallest dimension being the width of the filter
Footprint: filter mounts between the drive
heatsink and the panel or enclosure
TIU500
Footprint EMC Extended I/O with Real Time Clock

Voltage Order Code
Filter Description (Year, Month, Date, Week Day, Hour, Minute, Second)
SK-EMC Filter
200 to 240V +/- 10% 1ph 4200-6122 Description Order Code
Size A 1 Phase
SK-EMC Filter Real Time Clock for scheduling drive SM-I/O Timer
200 to 240V +/- 10% 1ph 4200-6212 running as well as the following
Size B 1 Phase
additional I/O connections:
SK-EMC Filter
380 to 480V +/- 10% 3ph 4200-6213
Size B 3 Phase
Terminal Function
SK-EMC Filter
200 to 240V +/- 10% 1ph 4200-6310 0V
Size C 1 Phase 1
2 bi-polar or 4-20mA Analogue input
SK-EMC Filter
380 to 480V +/- 10% 3ph 4200-6311 3 0-10V or 4-20mA Analogue output
Size C 3 Phase
4 +24V
Single phase footprint 5 Digital input
filters for low earth Voltage Order Code 6 Digital input
Commander SK
leakage applications 7 Encoder B or Digital input
Input/Output
SK-EMC Low 8 Encoder B\
200 to 240V +/- 10% 1ph 4200-6122
Leakage Size A 9 Encoder A
SK-EMC Low 10 Encoder A\ This Encoder Speed Reference
200 to 240V +/- 10% 1ph 4200-6212
Leakage Size B 11 0V input is not a true quadrature
SK-EMC Low 12 Encoder +5V counter therefore applications
380 to 480V +/- 10% 3ph 4200-6213
Leakage Size C 13 Relay which require accuracy when
14 Relay operating close to zero speed
INPUT/OUTPUT 15 Relay will not be possible.Therefore,
Extended I/O generally the option cannot be
used for position applications but
Description Order Code is more suited to applications
Additional I/O option with SM-I/O Lite that require accurate speed
the following connections holding and speed following.
Terminal Function Double Insulated Extended I/O

1 0V
2 bi-polar or 4-20mA Analogue input
Double Insulated Extended I/O SM-PELV
3 0-10V or 4-20mA Analogue output
4 +24V Chemical industry conformance to NAMUR NE37 gives
5 Digital input security in demanding application environment.
6 Digital input
7 Encoder B or Digital input
8 Encoder B\
Encoder A This Encoder Speed Reference
9
Encoder A\ input is not a true quadrature
10
counter therefore applications
11 0V
which require accuracy when
12 Encoder +5V
operating close to zero speed will 120V Extended I/O
13 Relay
not be possible.Therefore, Description Order Code
14 Relay generally the option cannot be
Relay 120V Digital I/O SM-I/O 120V
15 used for position applications but
is more suited to applications that 120V Digital inputs/outputs for applications with 120V
require accurate speed holding control voltage.
and speed following.

COMMUNICATION
Fieldbus Options
The most popular industrial fieldbus protocols are available
in the SM range of option modules.
One option slot in sizes B and C allows an
SM fieldbus option and or an extended I/O
SM option module to be fitted.
SM-DeviceNet SM-PROFIBUS-DP Ethernet MODBUS RTU

Commander SK
SM-CANopen SM-INTERBUS SM-Ethernet

Communication
Communications Order Code

Protocol
Modbus RTU* Standard
INTERBUS SM-INTERBUS
CANopen SM-CANopen
Use fieldbus firmware version 3.0 or higher for complete
compatibility for the entire range of AC drives

PROGRAMMING SOFTWARE Description Order Code

SyPTLitewith
Lite LogicStick Software for your PC or laptop which allows SyPTLite
Lite
Commander SK is Control Techniques simple and easy-to-use you to program PLC functions within the drive.
general-purpose drive. However, Commander SK contains Use with LogicStick and CTComms cable
features and functions that you may not expect to find on a
The LogicStick plugs into the front of the LogicStick
low-cost drive, such as the flexibility to program PLC
drive and enables you to program PLC
applications onboard the drive. By inserting a LogicStick into the
functions within the drive
front of the drive, you quickly add memory for program storage
that allows you to write a PLC ladder program using SyPTLit.Lite
The drive is prioritised to execute all motor control related

functions first and will use any remaining processing time to
execute theSyPTLiteladder
Lite program as a background activity.
Commander SK may also be fitted with the SM-I/O Timer
option that incorporates a real-time clock, allowing the drive to
Programming Software
Commander SK
be used as a low-cost stand alone solution in a wide range of
applications such as dosing, lubricating, heating and ventilation.
SyPTLit
Lite contains a comprehensive library of functions that is
based on a subset of those available in the

programming tool.These include:
Arithmetic Blocks Comparison Blocks
Timers Counters
Multiplexers Latches
Bit Manipulation
Lite IEC 61131-3
SyPTLite
Lite IS PROVIDED FREE OF CHARGE
Ladder Programming Software
WITH THE DRIVE OR VISIT
SyPTLit
Lite is a ladder diagram editor that allows you to develop
www.controltechniques.com/download.htm
programs that can be executed onboard Commander SK
with LogicStick.
SyPTLit
Liteeis designed to meet the needs of the majority of
automation users wishing to extend the functionality of the

drive control and sequencing.The software has been
developed with a definite focus on intuitive ease of use
allowing you to quickly access all of the drives parameters and
to monitor and debug your ladder program on line.

Commander SE
Simple and Easy
OVERVIEW
Control Techniques economical microdrive is an AC open
loop vector powerhouse, combining unmatched flexibility with
a small footprint. Best of all, the Commander SE is simple to
use and easy to install.
The Commander SEs first 10 parameters meet the needs of
nearly 80% of drive applications, making setup fast and
effortless. Installation requires only a standard screwdriver,
while the removable control terminal strip makes changeover
quick and error free. Mixer
Commander SE
The rugged and robust design has been field tested in harsh Simple and Easy
Overview
environments and proven itself a dependable drive for a

wide range of applications.The Commander SE, with its
Intelligent Thermal Management (ITM) technology, was
designed with reliability in mind. Rated at 50C ambient
temperature, the Commander SE withstands the most
severe operating conditions.
Digital AC Drive
0.25 to 2.2kW, 1 phase, 200 to 240 VAC
0.75 to 7.5kW, 3 phase, 200 to 240 VAC
0.75 to 37kW, 3 phase, 380 to 480 VAC Typical Applications:
IP21 (NEMA1) enclosure Fans, Pumps, Conveyors, Blowers, Ovens, Chillers
RS485 serial communications with Modbus

RTU protocol
Plug-in communications via PROFIBUS-DP, Material Payoff

Performance
DeviceNet, INTERBUS, and CANopen
SESoft Windows based

configuration tool for PC/Laptop
QuicKey cloning module

Advanced menus for ultimate control
and flexibility
1400 01: 20
SO 90
1
00
ISO
I
PP PP
Typical Applications: Material Handling, Lifts
A
A
R OVA R OVA E171230


SINGLE OR THREE PHASE INPUT
Open loop vector control with true space 0.25 to 7.5kW 200-240V10%
vector modulation 0.75 to 37kW 380-480V10%
Precise control algorithm provides full torque down to 200 to 240V 10%
1 Hz for exceptional performance
Order Frame Motor Input Conti. Overload
Access to multiple parameter levels Code Size kW1 Phases Output Current2
Current (A)
Customizes the drive to meet each users needs: (A)
simple (level 1), flexible (level 2) and advanced (level 3)
SE11200025 1 0.25 1 11.5 2.25
QuicKey cloning module SE11200037 1 0.37 1 2.5 3.45
Provides fast and cost-effective drive-to-drive parameter SE11200055 1 0.55 1 3.1 4.65
transfer and storage with no PC required SE11200075 1 0.75 1 4.3 6.45

Terminal connection drawings and Level 1 SE2D200075 2 0.75 1 or 3 4.3 6.45
Commander SE
parameters (10) listed on the drives front cover SE2D200150 2 1.5 1 or 3 7.5 11.3
SE2D200220 2 2.2 1 or 3 10 15
On-the-spot easy reference for drive set-up
and maintenance SE23200400 2 4 3 17 25
SE33200550 3 5.5 3 25 37.5
Static auto-tune
SE33200750 3 7.5 3 28.5 42.8
Allows fast motor / drive optimization without motor
shaft rotation 380 to 480V 10%
Order Frame Motor Input Conti. Overload
Two sets of motor map parameters saved in the Code Size kW1 Phases Output Current2
drives memory Current (A)
Allows sequenced switching between two motors with (A)
different operating characteristics SE23400075 2 0.75 3 2.1 3.2
SE23400150 2 1.5 3 4.2 6.3
Configurable analog and digital I/O
SE23400220 2 2.2 3 5.8 8.7
Customizes drive to the specific application
SE23400400 2 4.0 3 9.5 14.3
S-ramp accel / decel profiling SE33400550 3 5.5 3 13 19.5
Provides smooth speed transitions, minimizing SE33400750 3 7.5 3 16.5 24.8
machine jerk SE43401100 4 11 3 24.5 36.8
SE43401500 4 15 3 30.5 45.8
Built-in independent PID control
SE43401850 4 18.5 3 37 55.5
Eliminates the need for an external PID controller while
SE53402200 5 22 3 46 69.0
providing outer loop control of a process variable
SE53403000 5 30 3 60 90.0
Built-in Motorised Potentiometer SE53403700 5 37 3 70 105.0
Emulates the functionality of the traditional Motorised Use new Commander SK, see page 14
Potentiometer with increase / decrease pushbuttons 1 Motor Power is based on four pole, 230 / 460 VAC NEMA ratings.
2 Overload: 150% for one minute.
8 Preset speeds with independent accel / decel ramps
Order Code
Allows predetermined speed sequencing via logic inputs
SE X X XX XXXX
Selectable Stopping modes including Ramp, Coast,
Drive Kilowatt Rating
DC Injection, and Dynamic Braking (except size 1)
Drive Voltage Rating: 20 = 200-240 VAC
Added flexibility meets many application requirements 40 = 380-480 VAC
Full EMC compliance with optional filter Input Phase: 1 = 1ph, D = 1ph & 3ph, 3 = 3ph
Size: 1, 2, 3, 4, 5
Meets global standards for worldwide use
Commander SE product family name

TERMINAL DIAGRAM
Commander SE
Pin# Function 1 Type/Description Notes Pin# Function 1 Type/Description Notes
1 0V Common Common for External 9 Digital Input Digital Input 0 to 24 VDC,
Analog Signals (Enable) 7.5k Ohms
2 Analog Input 1 Single-ended 0 to +10 VDC, Update Time 1.5ms
(Local Frequency / Analog Input 100k Ohms, 10 Digital Input Digital Input 0 to 24 VDC,
Speed Reference), 10 bit Sample Time 6ms (Run Forward) 7.5k Ohms
3 +10 VDC User Supply Reference Supply 5 mA max Update Time 1.5ms
Short Circuit 11 Digital Input Digital Input 0 to 24 VDC,
Protected (Run Reverse) 7.5k Ohms
4 0V Common Common for Update Time 1.5ms
External 12 Digital Input Digital Input 0 to 24 VDC,
Digital Signals (Local/Remote Select) 7.5k Ohms
5 Analog Input 2 Single-ended 4-20 mA2 input, Update Time 1.5ms
(Remote Frequency / Analog Input 200 Ohms, 13 Digital Input Digital Input 0 to 24 VDC,
Speed Reference), 10 bit Sample Time 6ms (Jog Select) 7.5k Ohms
6 Analog Output 1 Single-ended 0 to +10 VDC Update Time 1.5ms
(Frequency / Speed), Analog Output, @ 5 mA max 14 +24 VDC User Supply User Supply 100 mA max
10 bit Unipolar Update Time 22ms Short Circuit Protected
7 +24 VDC User Supply User Supply 100 mA max 15 Status Relay (Drive Healthy) Normally Open 240 VAC, 6A resistive
Short Circuit Protected 16 Status Relay (Drive Healthy) Normally Open 240 VAC, 6A resistive
8 Digital I/O 1 Digital 0 to 24 VDC,
(Zero Speed Output) Input / Output 7.5k Ohms input or
Programmable Analog Programmable Digital All Analog I/O is scalable
0 to 24 VDC,
50 mA max output
Update Time 1.5ms 1 Values in brackets designate default functions.
2 0-20, 20-0, and 20-4 mA are also available. See Commander SE Manual.

SPECIFICATION Drive Overload Trip Current overload value is exceeded.

Programmable to allow up to 150% of
Environment drive current for one minute
Ambient Operating -10C to 40C @ 6kHz. Instantaneous 215% of drive rated current
Temperature -10C to 50C @ 3kHz Overcurrent Trip
For SE Size 4 (@ 18.5kW) and all SE Size 5's.
Phase Loss Trip DC bus ripple threshold exceeded
-10C to 40C @ 3kHz
Overtemperature Trip Drive heatsink temperature exceeds 95C (203F)
Cooling method Convection and forced convection,
model dependent Short Circuit Trip Protects against output phase to phase fault
Humidity 95% maximum non-condensing at 40C Earth Fault Trip Protects against output phase to earth fault
Storage Temperature -40C to 60C Motor Thermal Trip Electronically protects the motor from overheating
due to loading conditions
Altitude Derate the continuous output current by
1% for every 100m above 1000m to a
maximum of 4000m.
Approvals & Listings
Vibration Tested in accordance with IEC 68-2-34 UL, cUL UL File Listed 8D14
and IEC 68-2-36 IEC Meets IEC Vibration, Mechanical Shock and
Mechanical Shock Tested in accordance with IEC 68-2-29 Electromagnetic Immunity Standards
Enclosure NEMA 1 (IP 21) CE Designed for marking
Commander SE
Electromagnetic In compliance with EN61800-3 and EN50082-2 NEMA NEMA 1 enclosure type
Immunity ISO 9002 Certified Manufacturing Facility
Electromagnetic In compliance with EN61800-3 ISO 14001 Certified Manufacturing Facility
Emissions second environment, without RFI filter.
EN50081-1*, EN500821-2 and EN50081-3 first DIMENSIONS (mm)
environment with optional RFI filter. *Size 1 only
AC Supply Requirements
Voltage 200V model: 200 to 240 VAC 10%
400V model: 380 to 480 VAC 10%
Phase 1ph and 3ph (Model dependent)
Maximum Supply 2% negative phase sequence (3% voltage
Imbalance imbalance between phases)
Frequency 48 to 62 Hz
Input Displacement 0.97
Power Factor
Control
Switching Frequency 3, 6 and 12 kHz (Default value model dependent)
Output Frequency Up to 1000 Hz
Frequency Accuracy 0.01% of full scale
Frequency Resolution 0.1 Hz
Analog Input 10 Bit + sign (Qty 2)
Resolution
Serial Communications ANSI 2-wire EIA485 via RJ45 connector.
Baud rate is 4800, 9600 or 19,200
Braking DC injection braking standard. Dynamic braking
transistor standard (not available on Size 1)
Protection
DC Bus 200V model: 180 VDC
Undervoltage Trip (approx 127 VAC line voltage)
400V model: 400 VDC
(approx 282 VAC line voltage)
DC Bus 200V model: 420 VDC
Overvoltage Trip (approx 299 VAC line voltage)
400V model: 830 VDC
(approx 587 VAC line voltage)
MOV Voltage 160 Joules, 1400 VDC clamping
Transient Protection (Line to line and line to earth)

OPTIONS DRIVE CONFIGURATION

Overview
AND PROGRAMMING
This simple and easy drive also provides flexibility with easy to Drive Configuration Tool
install options. Drive set-up is quick and convenient using our SESoft is a complimentary Windows based drive
remote keypad or SESoft, the Windows based configuration configuration tool designed to enable the complete control
tool.The SE QuicKey allows parameter cloning for fast and display of all parameters within a Commander SE.The set-
parameter storage and transfer, making it easy to add or up wizard guides the user in entering motor and application
replace drives within your system.The Commander SE easily data. Motor data may be supplied from the motor nameplate,
connects into your network with a wide range of fieldbus or the user may select a motor from the database supplied in
protocols and operator interface options. the wizard. A monitoring screen displays real-time drive values
such as current, voltage and DC bus level. SESoft
communicates via the computers serial port and the
Commander SEs RJ45 port using the CT Comms Cable.
Options; Drive Configuration and
Commander SE
SESoft IS SUPPLIED WITH THE DRIVE

Programming
OR YOU CAN DOWNLOAD FROM

Options At-A-Glance
Option Description Order Code
Drive Configuration Tool SESoft

Configuration RS232/485 Cable CTComms Cable
& Programming QuicKey Cloning Tool SE55
Remote Keypad Universal
Operator Keypad
Interfaces Operator Interface Refer to Drive
HMI Centre
Cable Shield Clamps SE11 to SE14
Power
EMC Filters To fit drive
Accessories
Braking Resistors To fit drive
Input/Output Bi-polar Analog SE51
Input Card
RS485/Modbus RTU Standard
PROFIBUS-DP SE73
Communication INTERBUS SE74
DeviceNet SE77DN
CANopen SE77CO

Programming / Configuration Cable OPERATOR INTERFACES

Using a special RS232 to RS485 converter you can connect Universal Keypad
the PC to the RJ45 serial port on the front of the drive.
The Universal Keypad is an ideal
A special pre-made cable is available from Control Techniques
maintenance tool for use with
for this purpose this same cable is used with other Control
Control Techniques digital drives
Techniques products that use a RS485 connector such as
(Commander SE, Mentor II),
the Unidrive 6.
Five navigation keys and plain
text parameter descriptions
make the Keypad easy to use for
viewing and modifying drive data.
The keypad is designed to be
handheld or panel mounted.The IP65 rating, screw-down
terminals and stress relief for cable connections assure a
rugged and robust design.
Commander SE
Operator Interfaces
An RS485 cable with an RJ45 connector on the Commander
SE cable end and dressed wires on the Keypad cable end
is available.
Operator Interface Unit
Description Order Code The HMI operator interface units incorporate a range of
PC-to-drive Comms Cable CT Comms Cable features including back-lit LCD display and easy-to-use
navigation keys. Using the WYSIWYG page editor, they can
QuicKey / Cloning Module be programmed to display a variety of menus, submenus,
The QuicKey is a small, alarms, fault conditions and other critical information.The HMIs
encapsulated memory module support a range of capabilities including multiple font sizes, real
that stores the entire set of the time trends and graphs, scheduling and background programs.
Commander SE parameter values. It plugs They communicate via 2 or 4-wire RS485 and, to simplify
onto the drive near the control terminals.The Commander SE installation, some HMIs are rated to IP54 and require no screw
may be programmed to download / upload a set of mounting holes.
parameters to / from the QuicKey or to operate with or
without the module installed. Once the information is stored
in the QuicKey, it may be removed from the drive for future
use such as cloning other drives or programming a
replacement drive.
HMI 200 VT155W
TIU500

POWER ACCESSORIES
Cable Shield Clamps Commander SE Order
The cable shield Size Code
clamps are used with 1 SE11
the Commander SE 2 SE12
to stabilise wire /
3 SE13
cable connections
4 SE14
when mounting a
drive inside an
enclosure.The clamps
attach to the bottom of the Commander SE drive and
provide a convenient shielded earth connection.
Drive Type EMC Filter Order Code Filter Type Mounting Style Current (A)
Commander SE
Power Accessories
230 VAC
4200-6102 Standard Footprint/Bookend 12
SE11200025-075 4200-6101 Light Duty Panel Mount 12
4200-6103 Low Leakage Footprint/Bookend 12
SE2D200075-220 4200-6204 Light Duty Panel Mount 26
Single Phase 4200-6205 Low Leakage Footprint/Bookend 26
SE2D200075-220 4200-6304 Light Duty Panel Mount 16
Three Phase 4200-6207 Low Leakage Footprint/Bookend 16
SE23200400 4200-6303 Light Duty Panel Mount 26
SE33200550-750
4200-6303 Light Duty Panel Mount 30
480 VAC
SE23400075-400 4200-6304 Light Duty Panel Mount 16
SE33200550-750
SE43401100-1500
SE43401850
SE53402200 4200-6116 Standard Bookend 50

INPUT / OUTPUT COMMUNICATION

Bi-polar Analog Input Card Communication Cards
The bi-polar speed reference input card (SE51) allows the
direction of a motor to be controlled via a speed
potentiometer or external bi-polar speed reference rather
than the forward/reverse terminal selector.
The +10V potentiometer reference can be supplied from the
drive (term. #3) or from an external power supply.The 10V
potentiometer reference must be supplied from an external
supply.The SE51 also has a relay that is controlled by the
digital output (default zero speed) of the drive.
Bi-polar Analog Input Card Terminal Diagram
Communications Input/Output
Commander SE
Each fieldbus interface for the Commander SE is a single
option card that fits within the drive. Parameter data is
transferred to and from the Commander SE using a
2-wire RS485 link into the serial communications port
on the drive.
Communication Order
Protocol* Code
RS485 / Modbus RTU as standard
PROFIBUS-DP SE73
or go to
INTERBUS SE74
www.controltechniques.com
/download.htm DeviceNet SE77DN
CANopen SE77CO
* Maximum communication rate through RJ45 port is 19.2 kbaud.

Bi-polar Analog Input Card Terminal Description Commander SE operates as slave node only.
Signal Connector Pin # Function

PL1 1 Bi-polar Analog Input
(10 VDC, 22k Ohms)
2 0V Common
PL2 1 0V Common
(Interface 2 0 to +10 VDC Analog Output
connections 3 +24 VDC Supply for option card
to Commander 4 Digital Input (+24 VDC)
SE) to control relay
5 Run Forward Output
(+24 VDC)*
6 Run Reverse or Run Forward /
Reverse Output (+24 VDC)*
PL3 1 Relay Contact Common
(48 VAC / DC, 2A resistive)
2 Relay Contact (Normally Open)
* Directional control of Commander SE

Commander SX 0.37 to 4kW 3 phase 200VAC

OVERVIEW 0.75 to 7.5kW 3 phase 400VAC
Dirt, dust, water, pollution. All environments that can mean IP66 NEMA 4X enclosed drive no need for
additional cost whenever a variable speed drive is needed. separate enclosure
From wash down food and drink applications to dust and
other airborne particles such as in a textile plant, Control
Designed for direct to wall or next to motor mounting
avoiding cabling, cabinet, and installation costs
Techniques have designed the perfect match for such rugged
applications Commander SX Easy set up and commissioning the first ten
parameters cover 80% of applications
The Commander SX from 0.37kW to 7.5kW is an IP66
(NEMA 4X) protected drive that enables users to mount the More than 8 preset drive configurations
drive directly next to the motor giving significant cabling, Surface textured and rounded corners designed to
cabinet and installation savings.The practicality of mounting the maximise washdown effectiveness
drive near the motor, while being protected from the harsh Internally fitted EMC filter ( to generic and drive
Commander SX
environments, brings users the additional benefit over standards) for units up to 4kW, with externally fitting
integrated motors by separating the two technologies in the
Overview
IP66 filters above 4kW

event of maintenance and breakdown.Typical applications
include; Fans, Pumps, Conveyors, Blowers, Ovens and Chillers.
Robust industrial housing with simple speed
control interface
TYPICAL APPLICATIONS
Pump Material
Accurate Control Payoff
Performance
Extruder Conveyor
Reliability Smooth Acceleration
Mixer
Simple and Easy


Open loop vector control with true space vector modulation 200 to 220 VAC 3 phase 10%
100% 150%
Precise control algorithm provides full torque down to
1 Hz for exceptional performance Frame Input output overload
Order Code kW
size Phases current current for
Access to multiple parameter levels Customises the drive (A) 60s
to meet each users needs: simple (level 1), flexible (level 2)
SX13200037 1 3 0.37 2.5 3.8
and advanced (level 3)
SX13200055 1 3 0.55 3.2 4.8
XpressKey cloning module Provides fast and cost-effective
SX13200075 1 3 0.75 4.5 6.8
drive-to-drive parameter transfer and storage with no
PC required SX23200110 2 3 1.1 6 9
Static auto-tune Allows fast motor / drive optimisation SX23200150

SX23200220
2
2
3
3
1.5
2.2
8
10
12
15
without motor shaft rotation
Configurable analog and digital I/O Customises drive to SX33200300 3 3 3 13.5 20

the specific application SX33200400 3 3 4 16.5 25
Commander SX
S-ramp accel / decel profiling Provides smooth speed
transitions, minimising machine jerk 380 to 480 VAC 3 phase 10%
Built-in independent PID control Eliminates the need for 100% 150%
an external PID controller while providing outer loop Frame Input output overload
Order Code kW
control of a process variable size Phases current current for
Built-in Motorised Potentiometer Emulates the (A) 60s
functionality of the traditional motorised SX13400075 1 3 0.75 2.5 3.8
potentiometer with increase/decrease pushbuttons.
SX13400110 1 3 1.1 3.2 4.8
8 Preset speeds with independent accel / decel ramps
SX13400150 1 3 1.5 4.5 6.8
Allows predetermined speed sequencing via logic inputs
SX23400220 2 3 2.2 6 9
Selectable Stopping modes including Ramp, Coast, DC SX23400300 2 3 3 8 12
Injection, and Dynamic Braking Added flexibility meets SX23400400 2 3 4 10 15
many application requirements SX33400550 3 3 5.5 13.5 20
Full EMC compliance with optional filter Meets global SX33400750 3 3 7.5 16.5 25
standards for worldwide use
Product Designation
PB Local Controls
SX 1 3 4 0 0 0 7 5 PB
and access to
basic parameters
via buttons. Display Version
Rating
Voltage code
3-phase power supply
Frame size
Commander SX: IP66/NEMA 4X flux vector

DV Display variable speed drive for induction motors
only. Access to PT Local Controls
parameters via via buttons and
LCD console potentiometer. PB: Local controls and access to basic parameters via buttons.
or PC. Access to parameters
via LCD console PT: Local controls via buttons and potentiometer. Access to
or PC. parameters via PX-LCD console or PC.
DV: Display only. Access to parameters via PX-LCD console or PC.

TERMINAL DIAGRAM Applying secure input SDI2 to obtain a secure stop

The Secure Input function provides a means for preventing
the drive from generating torque in the motor, with a very
high level of integrity. It is suitable for incorporation into a
safety system for a machine. It is also suitable for use as a
conventional drive enable input.
The Secure Input function is fail-safe, so when the input is
disconnected the drive will not operate the motor, even if a
combination of components within the drive has failed.
Most component failures are revealed by the drive failing
to operate. Secure Input is also independent of the drive
firmware.This meets the requirements of EN954-1 category 3
for the prevention of operation of the motor when the
Terminal Diagram; Specification
PX-Secure option module is used.

Commander SX
Secure Input can be used to eliminate the need for electro-

mechanical contactors, including special safety contactors,
which would otherwise be required for safety applications.
Connections in accordance with safety standard

EN954-1 category 2 or 3

1
10V +10V internal analog source Analog or logic input or
Accuracy 2% 6 ADIO3
analog output 3
Maximum output current 20 mA Unipolar analog
Protection Threshold at 15V
Characteristics voltage (common mode)
2ADI1 Analog or logic input 1 or current
Resolution 10 bits Resolution 10 bits
Sampling 6 ms Sampling 6 ms
Voltage input Voltage input
Full scale voltage range 10V 2%
Full scale voltage range 10V 2%
Maximum voltage 33V
Maximum voltage 33V
Input impedance 95 k
Input impedance 95 k
Current input
Current ranges 0 to 20 mA 5% Current input
Maximum voltage 33V/0V Current ranges 0 to 20 mA 5%
Commander SX
Terminal Description
Maximum current 33 mA Maximum voltage 33V
Input impedance 500 Maximum current 33 mA
Logic input (if connected to the +24V) Input impedance 500
0: < 5V Logic input (if connected to the +24V)
Thresholds
1: > 10V 0: < 5V
Thresholds
Voltage range 0 to +24V 1: > 10V
Maximum voltage 33V/0V Voltage range 0 to +24V
Load 95 k
Maximum voltage 33V/0V
Input threshold 7.5V
Load 95 k
3
5 0V Logic circuit common 0V Input threshold 7.5V
4ADI2 Analog or logic input 2 Voltage output
Resolution 10 bits Voltage range 0 to 10V
Sampling 6 ms Load resistor 2k
Voltage input Protection Short-circuit (40 mA max)
Full scale voltage range 10V 2% Current output
Maximum voltage 33V Current range 0 to 20 mA
Input impedance 95 k Maximum voltage 10V
Current input Maximum load resistor 1k
Current ranges 0 to 20 mA 5%
Maximum voltage 33V/0V 7 DIO1 Logic input or output 1
Maximum current 33 mA
Logic input or output
Input impedance 500 Characteristics
(positive logic)
Logic input (if connected to the +24V) 0: < 5V
Thresholds 0: < 5V Thresholds
1: > 10V
1: > 10V Voltage range 0 to +24V
Voltage range 0 to +24V Sampling/refreshment 2 ms
Maximum voltage 33V/0V Logic input
Load 95 k
Maximum voltage -0V to +35V
Load 15 k
PTC Sensor input
Internal Voltage 5V
Logic output
Default threshold > 3.3k
Maximum output current 50 mA
Reset default threshold < 1.8k
Overload current 50 mA

8 SPECIFICATION
+24V +24V internal source
11 Environment
Output current 100 mA in total
IP66 Nema 4X rating for mounting in close proximity to the
Overload current 150 mA
motor and application.
Accuracy 5%
Ambient temperature 40C (104F) without derating.
Current limiting and setting
Protection Up to 50C operation with a maximum derating of only
to fault mode
one motor size.
Removable gland plate for easy termination and removal of
9 DI2 Logic input 2
control and motor cables.
10 DI3 Logic input 3
Complies with EN954-1 Cat 3 with PX-Secure option.
12 DI4 Logic input 4
EMC cable gland option for shielded cable management.
Characteristics Logic input (positive logic)
0: < 5V Electromagnetic Immunity complies with EN61800-3 (Drive
Thresholds standard) and EN61000-6-2 (generic standard).
1: > 10V
Commander SX
Electromagnetic Emissions complies with EN61800-3 (Drive

Voltage range 0 to +24V
standard - 1st and 2nd environment) with integral EMC filter.
Sampling/refreshment 2 ms
Complies with EN61000-6-3 and EN61000-6-4
Maximum voltage 0V or +35V
(Generic standard) with integral EMC filter.
Load 15 k
Earth leakage current less than 3mA with integral EMC filter
in circuit.
European Hygienic Engineering and Design Group EHEDG
13 SDI1 +24V DC dedicated to secure input only
and FDA hygienic recommendations have been adopted for
14 SDI2 secure input/enable
the food industry:
Characteristics Logic input (positive logic)
- No paint.
0: < 5V - Anodised aluminium heat sink.
Thresholds
1: > 18V - Polycarbonate covers.
Voltage range 9V to 33V - All slopes > 3 degrees incline.
Impedance 820 - Roughness < 0.8 microns.
- No zones where liquids can accumulate.
15 COM Control
16 RL1C Fault relay output
Open loop vector control.
17 RL1O
V/F control.
NO_NC single-pole
Closed loop vector with PX-Encoder option.
Characteristics changeover contact
250VAC Speed reference input 0-10V, 0-20mA, 4-20mA.
2A, resistive load Digital inputs: Enable, Run forward, Run reverse, Jog,
Maximum contact current
2A, inductive load local/remote select.
Switching frequency 3kHz to 11kHz with 4.5kHz as default.
18 SDO1 Acceleration and Deceleration ramps (linear and S-type).
Secure contact
19 SDO2 Serial communication as standard
Characteristics 250 VAC - Modbus RTU RS485 via RJ45 connector.
2A, resistive load DC injection braking as standard.
Maximum contact current
1A, inductive load Integral dynamic braking transistor and resistor. PID Controller.
Protection
Undervoltage, Supply and DC Link overvoltage, Phase loss,
Drive overload, Instantaneous overcurrent, Over temp, Short
circuit, Ground fault, Over heat, Motor thermal, Watchdog.

DIMENSIONS (mm) OPTIONS

Options At-A-Glance
Sizes 1 & 2
W
W1
D
6.5
H1 H
Commander SX
Dimensions; Options
H2
Size 3
W
W1
LCD hand held programmer PX-LCD
Drive Configuration Commissioning software SXSoft
6.5 and Programming PC to drive comms cable CT Comms Cable
Cloning and parameter copying Xpresskey
Display only SXxx DV
Operator Interface
Local Controls via potenhometer SXxx PT
Brake resistor Drive dependant
Power Accessories
EMC filter IP66 Drive dependant
Input/ Output 12 additional !/O PX-I/O
H1 H Motor Feedback Encoder feedback PX-Encoder
H2 Modbus RTU Standard
Communications DeviceNet SM-DeviceNet
CANopen SM-CANopen
Commander SX Dimensions (mm) Screw Weight

Size W W1 H H1 H2 D kg
1 180 125 380 350 330 189 M6 4.7
2 180 125 380 350 330 223 M6 6.7
3 281 125 380 350 330 233 M6 8.8

DRIVE CONFIGURATION AND This kit enables user-friendly parameter setting or supervision
PROGRAMMING of the Commander SX and offers numerous functions:
PX-LCD Interactive parameter-
This handheld console makes it much easier to set the setting wizard
Commander SX parameters and access them. Its LCD display, Leroy-Somer
consisting of one line of 12 characters and 2 lines of 16 motor database
characters, offers text which can be displayed in 5 languages File saving
(English, French, German, Italian and Spanish).
Online help
The PX-LCD console has 4 main functions:
Comparison of 2 files
A read mode for Commander SX supervision or one file with the
and diagnostics factory setting
From the time it is plugged in, the PX-LCD display is in Printing of a complete file
Drive Configuration and Programming
read mode. By pressing the keys, the user can scroll or differences compared
through all the parameters required for supervision and to the Factory setting
Commander SX
diagnostics, such as:

Supervision
motor current
Diagnostics
motor frequency
Representation of
motor voltage parameters in table
analogue I/O levels or graphic form
logic I/O states
logic function states
timer
last faults SXSoft CAN BE DOWNLOADED FROM
An interactive parameter-setting wizard which makes it www.controltechniques.com/download.htm
very simple to configure the Commander SX.The
parameters are set in successive steps.The parameters Programming / Configuration Cable
offered at each step by the PX-LCD handheld console
Using a special RS232 to RS485 converter you can connect
depend on parameters set in the previous steps.The user the PC to the RJ45 serial port on the front of the drive. A
will therefore only be offered those parameters required special pre-made cable is available from Control Techniques for
by the application this purpose this same cable is used with other Control
Access to all the Commander SX advanced parameters in Techniques products that use a RJ45 RS485 connector such as
the Unidrive 6 and Commander SK.
order to optimise settings or configure special applications.
All the parameters, organised by menus, can be accessed
via the PX-LCD console
SXSoft
The SXSoft kit consists of SXSoft parameter setting software
and a CT-Comms cable for connecting the PC to the
Commander SX serial port.This cable, identical to the one
used with the Commander SK and UNIDRIVE 6 range, has:
RS232 Sub-D 9-pin connector for linking to the PC/laptop
A cable 2m long incorporating an isolated
RS232/RS485 converter
RS485 RJ45 connector for connection to the Description Order Code
Commander SX
PC-to-drive Comms Cable CT Comms Cable

XPressKey Local controls via Potentiometer (PT)

This version is available to give local speed
setting via a rugged potentiometer. All
parameter adjustments during set up need to
be done using either the PX-LCD console or
via the PC and SXSoft.
Display only (DV)
Designed for special OEM applications where
regular interfacing with Commander SX is not
The XPressKey option is used to save a copy of all the required.This version ensures no unwanted
Commander SX parameters so that they can be duplicated user interference during operation.
Operator Interface; Power Accessories

very simply into another drive.
To Save parameters using the XPressKey: POWER ACCESSORIES
Connect the XPressKey to the Commander SX serial port
Commander SX
EMC filter
With the drive disabled "Inh", set Pr 64 to "Prog" Commander SX sizes 1 and 2 drives conform to the
Confirm the transfer of parameters into XPressKey by drive standard EN 61800-3 since they have an RFI filter
pressing the drive Stop key integrated internally, as standard.
To set the drive parameters with the XPressKey: For conformity of size 3 Commander SX drives and in certain
Connect the XPressKey to the serial port conditions for sizes 1 and 2, an external RFI filter must be
With the drive disabled "Inh", press the "Key" button once added (part number FS 6376-16-07).
Confirm the transfer of parameters into the drive by The customer connects the filter to the mains supply, without
pressing the "Key" button a second time any special tools, using an IP 66 dust and damp proof
When the display reverts back to "Inh", the transfer is insulation displacement connector.
complete and the XPressKey can be disconnected and For Commander SX sizes 1 and 2, the filter should be
replaced in its storage slot mounted on the left as close as possible to the drive.
For size 3, the filter should be mounted on the heatsink.
OPERATOR INTERFACE
Local Controls via pushbutton (PB)
Commander SX is supplied as standard with
LED display comprising 4 x 7 segment digits
to indicate drive status and operating data.
Programming is done via intuitive operator
panel with 3 control buttons and three
parameter setting buttons. All parameters are in
a simple menu structure and programming is done in a simple
and easy way just like Commander SK.
IP66 RF Filter FS6376-16-07

PX-Brake resistor INPUT/OUTPUT

The braking resistors are supplied on a metal plate ready to
PX-I/O Plus
be fixed using 4 screws at the back of the drive.
This module enables the drive system designer to solve more
To ensure that the heat losses from the resistors are
complex applications by providing additional inputs and
dissipated correctly, the drive must be fixed with spacers
outputs that the Commander SX can access locally.These
(supplied with the resistors).
connections on 12-pin and 3-pin removable terminal strips are
programmable using SXSoft or the drives keypad.Their
assignments are stored within the drives memory.
PX-I/O Terminal Description

Commander SX
Input/Output
Electrical characteristics
Minimum compatible resistance
Minimum
Commander SX value Order Code
Sizes 1and 2 180 Consult Sales Office

Size 3 60 Consult Sales Office
PX-I/O Terminal Description

Quantity Description Notes
2 Relay Contacts (N.O.) 110 VAC, 2 A resistive
3 Digital Input +24 VDC, 7.5k Ohms
3 Digital Input / Output +24 VDC, 7.5k Ohms /
+24 VDC @ 10 mA max.
2 Analog Voltage Input 10 VDC, 20k Ohms,
10 bit
1 Analog Voltage Output 10 VDC @ 30 mA max.,
10 bit

MOTOR FEEDBACK
PX-Encoder
The PX-Encoder module
provides an internally fitted
encoder feedback option
up to 32,000 lines per
revolution.
COMMUNICATIONS
Fieldbus Network
Communication Modules
The Commander SX has a standard Modbus RTU RS485
communications RJ45 connector. In addition, SM fieldbus
Commander SX
option modules can be inserted to control and monitor a
Communications
Commander SX on fieldbus networks.The standard
Modbus-RTU port can be used for drive configuration
using SXSoft.
SM-DeviceNet SM-PROFIBUS-DP
SM-CANopen SM-INTERBUS
Communications Interface
Protocol Order Code
PROFIBUS-DP SM-PROFIBUS DP
CANopen SM-CANopen
MODBUS Standard

Chapter 3 pp 3/3/05 4:26 pm Page 42
Unidrive 6 Integration flexibility with

Overview
Operator Interface
HMI LCD Keypad LED Keypad

Operator
Interface
The full graphic
CTIU 200
CTSoft
CT
External PLC/Motion Control
AC Motors
Input/Output
Motion
Controller
Options Standard
PLC
Unidrive 6
Remote SM-I/O SM-I/O SM-I/O SM- SM-I/O 5 Analogue I/O

Overview
I/O Plus Timer Lite PELV 120V 7 Digital I/O

1 Secure Disable
PC
Filters
Standard Optional
Open Loop Closed Loop Servo Linear Motors
Key
= External to Unidrive 6
= Internal to Unidrive 6

Unidrive 6 - the Solutions Platform
Applications with PLC or Motion functionality
SM-Applications Lite OR SM-Applications SM-EZMotion
Programming Platform
Lite OR
SyPTLite (IEC61131-3) Programming Platform -
Power ToolsPro
Motion Made Easy
Indexing
Gearing
Feedback PLC Functionality AND Motion Functionality Profiles
Features Features
Function Block Programming Embedded Position Loop
Ladder Logic Sequencing Function Block Programming
Standard Ladder Logic Sequencing
Unidrive 6
SinCos Options
Overview
Quadrature
Frequency/Direction
Clockwise/
Counter clockwise SM-Universal Encoder Plus SM-Encoder Plus SM-Resolver
Accepts or replicates all Quadrature

standard feedback types
Communications
Standard Options
CAN Interface Ethernet

Modbus RTU TCP/IP

Unidrive 6 SOLUTIONS PLATFORM
OVERVIEW
The Unidrive 6 is The Benchmark for AC drive and servo
controls in the automation industry. It is a truly scalable
Solutions Platform with the flexibility to be personalised to
customers requirements, and lower true total cost while
maximizing productivity.
The Unidrive 6 Solution Platform incorporates many cost

saving and performance improvement features based on input
from end users and OEMs.These include Secure Disable,
Multiple Fieldbus capability, on-board EMC filter, Universal
feedback device support, and the facility for up to three Solution
Modules to tailor the drive to specific application needs. Normal Typical Applications
and Heavy-Duty operation and servo performance make the
Extruder Elevator
Unidrive 6 the ideal Solutions Platform. Control
Universal Digital AC Drive

0.75 to 30kW, 3 phase, 200-240 VAC
0.75 to 1200kW, 3 phase, 380-480 VAC
2.2 to 1000kW, 3 phase, 575 VAC
15 to 1200kW, 3 phase, 690 VAC
Five operating modes with energy-saving
Unidrive 6
Power Factor Control in Regen Mode* Conveyor Wire Drawing

Overview
Secure Disable for contactor elimination

to EN954-1 cat 3
Parameter and application

program cloning and back up card
Universal feedback interface with

12 selectable modes
High Resolution Analog Input

(16 bit plus sign)
RS485 Interface for PC connection

Pump Bridle Control
Dual duty ratings: Normal and Heavy
Three zero-space universal option slots
*Note: Additional components are necessary to produce a regen drive package.
Size 1 5 Size 6 9
1: 200
00 Submitted
0
ISO 9
for UL listing
AL
AP
P ROV E171230

FEATURE PERFORMANCE Secure Disable
Secure Disable Old New

The Unidrive 6 Secure Disable function Electromechanical
Solution
Unidrive 6
Secure Disable Solution
3 ~ AC
meets the requirements of EN954-I :
K1. . . . . . . . . . . . . . . . . . . . . . . 3 ~ AC
category 3 for machine safety, and can
+ 24V + 24V
serve as a part of a category 4
application. Control Techniques Secure Stop ......... Stop
conventional
Disable safety solution has been drive SD
K1 K1
independently verified by the German Start ...... Start
safety organization, BIA.This exclusive

feature of the Unidrive 6 saves money Order Code: 0175-0317 K1 M K1
M
and space. Under many conditions, this
standard feature eliminates the need for safety contactors by
utilising secure circuitry to prevent the motor shaft from being
driven bythe drive.
Multiple Fieldbus Capability Multiple Fieldbus

Modbus RTU port
The Unidrive 6 provides unrivaled fieldbus flexibility. In
addition to the standard Modbus RTU port, up to three
fieldbus option modules can be installed in the Unidrive 6s
option slots.This provides the capability to control and
monitor a Unidrive 6 on multiple fieldbus networks.
For example, a single Unidrive 6 can be configured
to communicate on both DeviceNet and PROFIBUS
networks simultaneously.
In the example shown, CTNet is used to provide real-time
Feature Performance
Unidrive 6
coordination between two Unidrive 6 modules.The
DeviceNet and PROFIBUS connections allow data to be
passed to the controllers in a machine line.
PLC Functionality with Unidrive 6

In addition to the extensive drive configuration capabilities of Scalable PLC Functionality
the Unidrive 6, scalable programming is available to solve
+ s+ ite
virtually any application requirements. Simple logic function L
Lite n
ns ns licatio
c tio ite + io
programming is achieved usingSyPTLitesoftware
Lite and the Fun L lica t p p
c ns p -A
ogi atio -Ap SM
drives built in PLC. More complex systems can be solved by r nal L pplic SM
Inte SM-A
PLC Processing (Power)
adding SM-Applications Lite (withSyPTLiteor Lite ) and dard

n
SM-Applications ( only) option modules. Sta
Unidrive 6 Configuration
SM-Applications SM-Applications Lite

Unidrive 6
FEATURE PERFORMANCE
Dual Duty Ratings Normal and Heavy
Provides cost effective sizing choices for all applications.
Low Voltage DC Operation Standard Features of the Undrive 6
Ideally suited for elevator rescue and machine tool set up.
24V DC Auxiliary Power Supply Input
5 Operating modes:V/Hz, open loop vector, closed loop
vector, servo, and regen
Provides an additonal means of maintaining control,
fieldbus and position loop on mains loss. 32-bit application co-processor module (up to a maximum
of 3 modules)
Comprehensive Autotune
Inertia measurement and static autotune reduce startup time. Universal encoder feedback
Universal Feedback Interface Application functions for Torque control, Brake control and
Supports 12 different feedback configurations, Axis-limit control
including several absolute encoders.
No need for additional components.
Built-in shaft orientation mode
Digital lock with adjustable ratio (frequency slaving)
16-bit, 250 sec (sample time) interface for high Programmable boolean logic (AND, NAND, OR, NOR)
gates with delay outputs
performance applications.
Extensive Fieldbus Connectivity Programmable threshold comparators
ModbusRTU (Standard). PROFIBUS-DP (12Mbit), DeviceNet, Built-in PID controller
CANopen, INTERBUS, CAN interface, SERCOS, Ethernet and
CTNet options via zero-space SM modules.
S-ramp accel / decel profiling
Built-in motorised potentiometer
Feature Performance
Up to three fieldbuses can connect to a single drive,

Unidrive 6
eliminating the need for expensive gateways.

8 Preset speeds and independent accel / decel rates
Three Universal Option Slots
Fieldbus, control and application SM modules fit in any of
3 Skip frequencies with adjustable bandwidths
the three option slots beneath the drive cover. Run time chronometers
Secure Disable Function Configurable analog and digital I/O
Conforms to EN954-1 Category 3 for machine safety with Selectable stopping modes including Coast, Ramp,
system cost reduction. and DC injection
for Simple Setup, Cloning and Back-up Dynamic braking capability

Easy-to-use card stores drive configuration and application
program for simple startup and parameter cloning. Supplied
Removable control terminals common to all sizes
free with Unidrive 6 Output frequencies up to 3000 Hz
Keypad Options Intelligent Thermal Management (ITM) technology with
Choose between no keypad, high visibility LED keypad or switching frequencies up to 16 kHz
multi-language LCD keypad based on the system design and
operating environment.
Drive Mounted Brake Resistor
Unidrive 6 sizes 1 and 2 feature a drive mounted brake
resistor option to reduce panel space requirements.

RATINGS select model on actual motor full load current

Unidrive 6 1 Motor
Output
Continuous
Output Current
Peak Output
Current
Motor
Output
Continuous
Output Current
Peak Output
Current
200 / 240 VAC +/- 10% 3 phase Normal Duty Heavy Duty
Order Code Frame kW@220V IN (A) IPK (A) kW@220V IH (A) IPK (A)
SP1201 1.1 5.2 5.7 0.75 4.3 7.5
SP1202 1 1.5 6.8 7.5 1.1 5.8 10.2
SP1203 2.2 9.6 10.6 1.5 7.5 13.1
SP1204 3 11 12.1 2.2 10.6 18.6
SP2201 4 15.5 17.1 3 12.6 22.1
SP2202 2 5.5 22 24.2 4 17 29.8
SP2203 7.5 28 30.8 5.5 25 43.8
SP3201 11 42 46.2 7.5 31 54.3
3
SP3202 15 54 59.4 11 42 73.5
SP4201 18.5 68 75 15 56 98
SP4202 4 22 80 88 18.5 68 119
SP4203 30 104 114 22 80 140
380 / 480 VAC +/- 10% 3 phase Normal Duty Heavy Duty
SP1401 1.1 2.8 3.1 0.75 2.1 3.7
SP1402 1.5 3.8 4.2 1.1 3.0 5.3
SP1403 2.2 5 5.5 1.5 4.2 7.4
1
SP1404 3 6.9 7.6 2.2 5.8 10.2
SP1405 4 8.8 9.7 3 7.6 13.3
SP1406 5.5 11 12.1 4 9.5 16.6
SP2401 7.5 15.3 16.8 5.5 13 22.8
SP2402 11 21 23.1 7.5 16.5 28.9
2
SP2403 15 29 31.9 11 25 40.2
SP2404 15 29 31.9 15 29 45.5
SP3401 18.5 35 38.5 15 32 56
SP3402 3 22 43 47.3 18.5 40 70
SP3403 30 56 61.6 22 46 80.5
SP4401 37 68 75 30 60 105
SP4402 4 45 83 91 37 74 130
SP4403 55 104 114 45 96 168
SP5401 75 138 152 55 124 217
5
SP5402 90 168 185 75 156 273
SP6401 110 202 222 90 180 270
SP6402 132 236 260 110 210 315
6
SP6411 110 202 222 90 180 270
SP6412 132 236 260 110 210 315
Unidrive 6
SP7411 160 290 319 132 240 360
7
SP7412 200 350 385 160 290 435
SP8411 250 440 486 200 350 525
Ratings
SP8412 8 315 540 594 250 440 660
SP8413 355 620 682 315 540 810
SP9411 400 700 770 355 620 930
SP9412 450 770 926 400 700 1050
SP9413 9 500 850 1023 450 770 1155
SP9414 560 990 1179 500 850 1275
SP9415 675 2 1150 1377 560 990 1485
1 Motor kW based on four pole,
220 / 400 VAC typical motor SP 7 4 1 1 -P12 -E54 6 Stand Alone
ratings. Select model based on Enclosure Rating
actual motor full load current.
IP21 (default)
2 For ratings to 1.2MW consult
your local Drive Centre. Current E54 IP54
Rating Input Pulse Number E01 NEMA 1
Unidrive Product Line Step 6 pulse (default) E12 NEMA 12
6 Solution Platform P12 12 pulse
Size 1 to 9 complete Configuration P18 18 pulse
inverter drive 0 Wall Mount
Normal Duty Suitable for most applications, current
1 Free Standing
6 Standard Power Range 2 Wall Mount, no dynamic
(open loop) overload is set at 110% for 60 seconds.Where
motor rated current is less than the drive rated
Voltage Rating brake control continuous current, higher overloads are achieved.
2 200V to 240V 3 Free Standing, no dynamic Heavy Duty Suitable for demanding applications, current
4 380V to 480V brake control (open loop overload is set at up to 175% for 40 seconds.
vector,closed Where motor rated or loop servo) current is less
5 500V to 575V 4 Regen Free Standing
than the drive rated continuous current, higher
6 500V to 690V (4 Quadrant) overloads (200% or greater) are achieved.

RATINGS select model on actual motor full load current

Unidrive 6 1 Motor
Output
Continuous
Output Current
Peak Output
Current
Motor
Output
Continuous
Output Current
Peak Output
Current
575 VAC +/- 10% 3 phase Normal Duty Heavy Duty
SP3501 3 5.4 5.9 2.2 4.1 7.2
SP3502 4 6.1 6.7 3.0 5.4 9.5
SP3503 5.5 8.4 9.1 4 6.1 10.7
SP3504 3 7.5 11.0 12.1 5.5 9.5 16.6
SP3505 11 16.0 17.6 7.5 12.0 21.0
SP3506 15 22.0 24.2 11 18.0 31.5
SP3507 18.5 27.0 29.7 15 22.0 38.5
SP46032 22 36 40 18.5 27 47
SP46042 30 43 47 22 36 63
SP46052 4 37 52 57 30 43 75
SP4606 2 45 62 68 37 52 91
SP56012 55 84 92 45 62 109
5
SP56022 75 99 109 55 84 147
SP66012 90 125 138 75 100 150
SP66022 110 144 158 90 125 188
6
SP66112 90 125 138 75 100 150
SP66122 110 144 158 90 125 188
SP76112 110 168 185 110 144 216
7
SP76122 150 192 211 110 168 252
SP86112 200 274 301 150 192 288
8
SP86122 250 341 375 200 274 411
SP96112 315 428 471 250 341 512
SP96122 355 483 531 315 428 642
SP96132 9 400 505 556 355 483 725
SP96142 450 637 701 400 505 758
SP96152 500 705 776 450 637 956
SP4601 18.5 22 24 15 19 32
SP4602 22 27 30 18.5 22 39
SP4603 30 36 40 22 27 47
4
SP4604 37 43 47 30 36 63
SP4605 45 52 57 37 43 75
SP4606 55 62 68 45 52 91
SP5601 75 84 92 55 63 109
5
SP5602 90 99 109 75 85 147
SP6601 110 125 138 90 100 150
Unidrive 6
SP6602 6 132 144 158 110 125 188

SP6611 110 125 138 90 100 150
Ratings
SP6612 132 144 158 110 125 188

SP7611 160 168 185 132 144 216
7
SP7612 185 192 211 160 168 252
SP8611 200 208 229 185 192 288
SP8612 8 250 263 289 200 208 312
SP8613 315 331 364 250 263 395
SP9611 355 374 411 315 331 497
SP9612 400 429 472 355 374 561
SP9613 450 478 526 400 429 644
9
SP9614 500 526 579 450 478 717
SP9615 560 591 650 500 526 789
SP9616 630 655 720 560 591 887
Unidrive Product Line SP 7 4 1 1 -P12 -E54 6 Stand Alone

6 Solution Platform Size 1 to 9 Enclosure Rating
complete inverter drive IP21 (default)
Current E54 IP54
6 Standard Rating E01 NEMA 1
Power Range Step E12 NEMA 12
Voltage Rating Configuration

2 200V to 240V Input Pulse Number
0 Wall Mount
4 380V to 480V 6 pulse (default)
1 Free Standing
5 500V to 575V P12 12 pulse
2 Wall Mount, no dynamic brake control
6 500V to 690V P18 18 pulse
3 Free Standing, no dynamic brake control
4 Regen Free Standing (4 Quadrant)

RATINGS four quadrant regenerative

Unidrive 6 1 Motor
Output
Continuous
Output Current
Peak Output
Current
Motor
Output
Continuous
Output Current
Peak Output
Current
SP8441 110 202 222 90 180 270
SP8442 132 236 260 110 210 315
8
SP8443 160 290 319 132 240 360
SP8444 200 350 385 160 290 435
SP9441 250 440 484 200 350 525
SP9442 9 315 540 594 250 440 660
SP9443 355 620 770 315 540 810
SP86412 90 125 138 75 100 150
SP86422 110 144 158 90 125 188
8
SP86432 110 168 185 110 144 216
SP86442 150 192 211 110 168 252
SP96412 200 274 301 150 192 288
9
SP96422 250 341 375 200 274 411
SP8641 110 125 138 90 100 150
SP8642 132 144 158 110 125 188
8
SP8643 160 168 185 132 144 216
SP8644 185 192 211 160 168 252
SP9641 200 208 229 185 192 288
SP9642 9 250 263 289 200 208 312
SP9643 315 331 364 250 263 392
1 Motor kW based on four pole, 575 / 690 VAC UNIDRIVE 6 REGEN MODE
typical motor ratings. Select model based on actual motor
full load current. Unidrive 6 can be configured to provide full four-quadrant
2 The same model can be used on a 575V or a 690V supply, and has two control of the power or drive system. In regen mode, the
different output ratings. For example: At Normal Duty, SP4603 is suitable
Unidrive is capable of either supplying power to the DC bus
for a 22kW output motor on a 575V supply, and a 30kW output motor
on a 690V supply. of the Unidrive controlling the motor or removing power
from the DC bus of the Unidrive controlling the motor and
Normal Duty Suitable for most applications, current returning it back to the supply.
Unidrive 6
(open loop) overload is set at 110% for 60 seconds.Where
motor rated current is less than the drive rated Unity or controllable Input Power Factor
Ratings
Heavy Duty
continuous current, higher overloads are achieved.
Suitable for demanding applications,
Sinusoidal Input Current (Low Harmonic Content)
(open loop vector, current overload is set at up to 175%
closed loop or servo) for 40 seconds.Where motor rated current is less
than the drive rated continuous current, higher Unidrive 6
overloads (200% or greater) are achieved. Regen
Solution

TERMINAL DIAGRAM
Unidrive 6
1 0V Common 21 0V Common
2 +24 VDC External Input Back up Power 60W, 24 VDC 22 +24 VDC User Supply 200 mA max
Supply for Control 23 0V Common Common for External
3 0V Common Common for External Digital Inputs
Analog Devices 24 Digital I/O 1 Digital 0 to 24 VDC input,
4 +10 VDC Reference Supply 10 mA max (Zero Speed Output) Input / Output or 1 to 24 VDC,
100 mA max output
5 Analog Input 1 Differential 10 VDC
(Local Frequency / Analog Input, 100k Ohms 25 Digital I/O 2 (Reset Input) Digital 0 to 24 VDC input,
Speed Reference), 16 bit Non-inverting Input 100 mA max output Input / Output or 1 to 24 VDC,
6 Analog Input 1 Differential 10 VDC 26 Digital I/O 3 Digital 0 to 24 VDC input,
(Local Frequency / AnalogInput, 100k Ohms (Run Forward Input) Input / Output or 1 to 24 VDC,
Speed Reference), 16 bit Inverting Input 100 mA max output
7 Analog Input 2 Single-ended 10 VDC, 100k Ohms 27 Digital Input Digital Input 0 to 24 VDC,
(Remote Frequency / Analog Input or 4-20 mA, (Run Reverse) 7.5k Ohms
Speed Reference), 10 bit 200 Ohms 28 Digital Input Digital Input 0 to 24 VDC,
8 Analog Input 3 Single-ended 10 VDC, 100k Ohms (Local / Remote) 7.5k Ohms
(Motor Thermistor), 10 bit Analog Input or 4-20 mA, 29 Digital Input Digital Input 0 to 24 VDC,
(Trip at 3.3kOhm) 200 Ohms (Jog) 7.5k Ohms
9 Analog Output 1 Single-ended Analog 10 VDC or 30 0V Common Common for External
(Frequency / Speed Monitor) Output, Bi-polar 0-20 / 4-20mA Digital Inputs
10 Analog Output 2 Single-ended Analog 10 VDC 31 Digital Input Digital Input 0 to 24 VDC,
(Motor Torque Monitor) Output, Bi-polar 0-20 / 4-20mA (Secure Disable) 1sec sample
11 0V Common Common for External 41 Status Relay (Drive Healthy) Normally Open 240 VAC, 2A resistive
Analog Signals 42 Status Relay(Drive Healthy) Normally Open 240 VAC, 2A resistive
Programmable Analog Programmable Digital All Analog I/O is scalable 1 Values in (parenthesis) designate default functions.
2 0-20, 20-0, and 20-4 mA are also available. See Unidrive 6 Manual.

SPECIFICATION Earth Fault Trip Protects against output phase to ground fault
Motor Thermal Trip Electronically protects the motor from overheating
Environment due to loading conditions
Ambient Operating 0 to 40C
Temperature 0 to 50C with derating Approvals & Listings
Cooling method Forced convection UL, cUL Listed E171230
Humidity 95% maximum non-condensing at 40C IEC Meets IEC Vibration, Mechanical Shock and
Storage Temperature -40 to 50C Electromagnetic Immunity Standards
Altitude 0 to 3000m. Derate 1% per CE Designed for marking
100m between 1000m and 3000m
Vibration Tested in accordance with IEC 68-2-34
VDE Meets VDE Electromagnetic Emissions Standards
Mechanical Shock In accordance with IEC 68-2-27
ISO9001: 2000 Certified Manufacturing Facility
Enclosure IP 20 (NEMA1), IP 54 (NEMA12) through
ISO 14001 Certified Manufacturing Facility
panel mounting
Electromagnetic In compliance with IEC801 and EN50082-2, and
Immunity complies with EN61800-3 with built-in filter
DIMENSIONS (mm)
Electromagnetic In compliance with EN50081-2 when the
Emissions recommended RFI filter is used and EMC
100mm 155mm
installation guidelines are followed
Weight: Weight:
AC Supply Requirements 5kg 7kg
Voltage 200 to 240 VAC 10% 5.8kg
380 to 480 VAC 10% (SP1405, 368mm 368mm
500 to 575 VAC 10% SP1406)
500 to 690 VAC 10%
Phase 3 219mm 219mm
Phase Imbalance 2% negative phase sequence (equivalent to 3%
Tolerance voltage imbalance between phases) 250mm
Weight: Weight: 310mm
15kg 30kg
Power Factor
Control 368mm
Switching Frequency 3, 4, 6, 8, 12, 16 kHz
Output Frequency 0 to 3000 Hz (Open loop) 510mm
260mm
Output Speed 0 to 40,000 rpm (Closed loop)
Unidrive 6
Frequency Resolution 0.001 Hz 310mm
298mm
Analog Input Resolution 16 Bit + sign (Qty 1),10 Bit + sign (Qty 2)
Serial Communications 2 or 4-wire RS232 or RS485.
Protocol is ANSI x 3.28-2.5-A4, or Modbus RTU
Baud rate 300 to 115,200 310mm
Braking DC injection braking (stopping and holding)

standard. Dynamic braking transistor standard
Mains Dip Up to 1 second depending on inertia and
Ride Through decel time
Protection
DC Bus 175 / 350 / 435 VDC 1131mm
Undervoltage Trip (approximately 124 / 247 / 307 VAC line voltage)
DC Bus 415 / 830 / 990 VDC 820mm
Overvoltage Trip (approximately 293 / 587 / 700 VAC line voltage)
Drive Overload Trip Current overload value is exceeded.
Programmable for Normal Duty or Heavy Duty,
Open loop or Closed loop operation
Instantaneous 225% of drive rated current
Overcurrent Trip 298mm
Phase Loss Trip DC bus ripple threshold exceeded Weight: 298mm Weight:
Overtemperature Trips Drive heatsink, control board, and option 75kg 55kg
module(s) monitoring
Short Circuit Trip Protects against output phase to phase fault
For dimensions of frame sizes 7, 8 and 9 contact your local Drive Centre.

OPTIONS DRIVE CONFIGURATION AND

The Unidrive 6 provides application and system
PROGRAMMING
designers with an incredibly flexible drive platform, which is
easily modified by an extensive range of sophisticated
SM option modules that can be used singly or in combination This is a standard feature that enables simple configuration of
for economical and space saving solutions. SM option parameters in a variety of ways.The can:
modules install easily into any of the three option slots, Clone a complete set of parameters for serial production
with no tools required.The I/O, feedback, memory,
communication and application modules enable the Unidrive
Save multiple complete sets of parameters
6 to provide an optimised solution regardless of the Set up an application as parameter differences from default
demands of the application. A complete range of other
accessories are available to simplify system integration and
Automatically save all user parameter changes for
maintenance purposes
meet system design criteria.
Load complete motor map parameters
Options At-A-Glance
Set up an application as parameter differences from default
Drive Configuration Cloning and
and Programming Programme Storage Card
Smart Card*** Read/write information from within
SM-Applications and SM-Applications Lite
Configuration Tool CTSoft***
Communications Cable CT Comms Cable
Operator Interface No Keypad As standard
LED Keypad SM-Keypad
Backlit LCD Keypad SM-Keypad Plus
Opertaor Interfaces HMI See section 12.3 for
details
Power Accessories Internal Fitting Brake Resistor SM - Heatsink DBR
Panel Mounting DB Resistors To fit drive
E Stop Duty
Options; Drive Configuration & Programming
Wall Mounting DB Resistors To fit drive

Cyclic Duty
Internal Fitting EMC Filter As standard
External Fitting EMC Filters To fit drive
Motor Feedback Universal Encoder Feedback SM-Universal Encoder Plus
Second Encoder Feedback SM-Encoder Plus
Unidrive 6
Resolver Input Feedback SM-Resolver**

Encoder Terminal Connector SM-ETC
Input/Output Extra I/O SM-I/O Lite
Extra I/O with Real Time Clock SM-I/O Timer
Extended I/O SM-I/O Plus
Double Insulated Extended I/O SM-PELV
120V I/O SM-I/O 120V
Remote Network I/O Beckhoff I/O
Communication Modbus RTU (Standard) SM-Applications*
PROFIBUS-DP SM-PROFIBUS-DP is supplied free of
INTERBUS SM-INTERBUS charge with each
CTNet SM-Applications Unidrive 6
CAN Interface SM-CAN
CANopen SM-CANopen
Interface SM-SLM
SERCOS SM-SERCOS
Ethernet SM-Ethernet The drive only communicates with the when
Application System Programming SM-Applications
Co-processor System Programming SM-Applications Lite
commanded to read or write, meaning the card may
Modules Motion Made Easy SM-EZMotion** be hot swapped.
Application Lite (IEC61131-3)
Free with Unidrive 67
Programming (IEC61131-3)
Sofware PowerTools Pro Free download from
Control Techniques.com
Solutions Dual Mode Winder SSP-4000-0010
Sofware Flying Shear Control SSP-4000-0020
Fan and Pump Duty Assist SSP-4000-0030
* Provides additional Modbus RTU port.

** Only one of these modules per drive.
*** Supplied as standard with Unidrive 6

CTSoft
CT
CTSoft is a complimentary Windows based drive configuration
tool designed to enable the complete control and display of all
parameters within a Unidrive 6. Functions within CTSoft
allow data to be uploaded, viewed and saved,
or retrieved from disk, modified and printed. It can be used
off-line in the office or on-line in the factory. CTSoft
communicates with the Unidrive 6 via the computers serial
port to the drives RS485 port using a communications cable
(CT Comms cable) or via SM-Ethernet module. For more
information, refer to the Set up and Configuration Software
Section 9.1.
Remote Upload/Download
Parameter Saving
Drive and SM-Application Reset
Monitor Screens Communications Cable
Multiple Window Display Using a special RS232 to RS485 converter you can connect
Block Diagram Animation the PC to the RJ45 serial port on the front of the drive.
Project Storage A special pre-made cable is available from Control Techniques
CTSoft IS SUPPLIED WITH THE DRIVE for this purpose this same cable is used with other Control
OR YOU CAN DOWNLOAD FROM Techniques products that use a RJ45 RS485 connector such as

www.controltechniques.com/download.htm the Commander SE.
The RJ45 socket is located under a small flap on the front of
the Unidrive 6 just below the keypad.The pin-outs of this
Unidrive 6
connector are described in the Unidrive 6 User Guide.
Order Code Description

CT Comms Cable PC-to-drive Comms Cable
USB CT Comms Cable USB-to-drive Comms Cable

OPERATOR INTERFACE POWER ACCESSORIES

Keypad Options Internal Dynamic Braking Resistors
The Unidrive 6 can operate without a keypad, or with Dynamic braking resistors provide a
either the SM-Keypad or SM-Keypad Plus.The SM-Keypad is a means of rapidly stopping motor and
full-function, 7-digit LED data display.The SM-Keypad Plus is a load.The mechanical energy stored in
back-lit LCD display option that can be remote mounted, has the spinning mass is converted into
5 languages, plus custom text database, on-line help, and HMI electrical energy and quickly dissipated
features. Both keypads are hot-pluggable, enabling them to be into the resistor.The ohmic value and
moved from one drive to another without powering down. power rating of the resistor is a function
of the drive type.
A dynamic braking resistor is available
for heatsink mounting on size 1 and Size 1 Unidrive 6
2 drives. No external thermal protection heatsink shown
device is required as resistors are
electronically protected by drive firmware.
Unidrive 6 Size DC Resistance Power Rating

SM-Keypad + No Keypad SM-Keypad Plus 1 75 R 100W
2 37.5 R 200W
Operator Interface Unit (HMI)
E-Stop Duty Dynamic Braking
The HMI operator interface units have a range of features
including a back-lit LCD display and easy-to-use Panel mounted DB resistors are designed for
navigation keys. non-cyclic use where energy dissipation from
an active drive is required. Resistors are
Using the intuitive WYSIWYG page editor, they can be
supplied with mounting hardware unless
programmed to display a variety of menus, submenus, alarms,

otherwise noted.
fault conditions and other critical information.The HMIs
support a range of capabilities including multiple font sizes, real Cyclic Duty Dynamic Braking
Unidrive 6
time trends and graphs, scheduling and background programs. These heavy-duty kits have been designed
They communicate via Modbus RTU and, to simplify to provide dynamic braking for cyclic and
installation, some HMIs are rated IP54 and require no screw continuous braking applications.
mounting holes.
Onboard EMC Filter
For more information, refer to the Network Communications
An internal EMC filter is provided as standard
Section 12.3.
with the Unidrive 6. It is adequate for most
Operator Interface Range industrial applications.The filter conforms to
EN61800-3 (second environment) when motor
cable length does not exceed a certain length
depending on the model.
External EMC filters
EMC filters are used to minimize high frequency power supply
line disturbances caused by PWM AC drives that may interfere
HMI 200 VT155W
with proper operation of sensitive electronic equipment.These
specific filters have been assessed for conformance with the
EMC directive by testing with the appropriate Control
Techniques drives.
TIU500

Mounting Style SM-Universal Encoder Plus

Bookend: filter mounts next to the drive with the smallest The SM-Universal Encoder Plus module
dimension being the width of the filter provides the Unidrive 6 with an
Footprint: filter mounts between additional feedback port with the same
functionality as the base drive, plus a
the drive heatsink and the panel
or enclosure simulated encoder output that can be
programmed to operate in the
Block: filter mounts on the panel near the drive following modes:
Optional External EMC Filters
Drive Order Code Drive cont. Order Code
SinCos with Commutation
SP1201 to SP1202 4200-6118 SP3401 to SP3403 4200-6305
Quadrature Incremental
SP1203 to SP1204 4200-6119 SP4401 to SP4403 4200-6406 Pulse and Direction
SP2201 to SP2203
SP3201 to SP3202
4200-6210
4200-6307
SP5401 to SP5402
SP3501 to SP3507
4200-6503
4200-6309
SSI
The module also incorporates freeze inputs for applications
SP4201 to SP4203 4200-6406 SP4601 to SP4606 4200-6408
requiring position capture.
SP1401 to SP1404 4200-6118 SP5601 to SP5602 4200-6504
SP1405 to SP1406 4200-6119 SP6401 to SP6402 4200-6603
SP6601 to SP6602 4200-6604
SM-Encoder Plus
SP2401 to SP2404 4200-6210
The SM-Encoder Plus module
For filters beyond SP6602 consult local Drive Centre. provides an additional incremental
MOTOR FEEDBACK encoder feedback port.
The Unidrive 6 has a built-in Universal encoder port that More than one SM-Encoder Plus and/
accepts the following signal types: or SM-Universal Plus Encoder module
may be installed in a single drive.
Pulse and Direction SM-Resolver
Forward and Reverse Pulses This module enables the Unidrive 6
Quadrature with commutation to control the speed and position
Unidrive 6
Motor Feedback
Forward and Reverse Pulses with commutation of motors fitted with resolvers.
Because of their ruggedness,
SinCos without commutation resolvers are often used in hot,
Absolute SinCos using E1485 serial protocol
HIPERFACE
R
demanding environments.
Absolute encoder Input Impedance: >85 Ohms
Absolute SinCos using serial communications protocol Transformation Ratio: 3:1 or 2:1
Absolute encoder Excitation Frequency: 6kHz
Commutation only eg Hall Effect devices Excitation Voltage: 6V or 4V rms sine wave
Universal Encoder Port
Maximum Feedback Simulated Encoder Output (ppr)
Motor Resolution Quadrature Frequency &
Speed Format Direction
0-3,300 rpm 14 bit 4096 8192
3,301-13,200 rpm 12 bit 1024 2048
13,201-40,000 rpm 10 bit 256 512
SM-ETC
Encoder Terminal Connector The encoder simulated output can be sourced either from the
The 15 way D-Type Converter is used resolver or the main drive encoder.
to simplify motor feedback wiring by
Breaking out the 15-pin D-connector
signals to screw terminals.

INPUT/OUTPUT Remote Network I/O

SM-I/O Lite The high-quality Beckhoff I/O system is
Additional I/O (1 x Analog Input ( 10V bi-polar available for CTNet systems. Beckhoff
or 4-20mA), 1 x Analog Output (0-10V or 4-20 mA), systems for CTNet include an I/O bus
3 x Digital Output and 1 x Relay). coupler and a large variety of snap-on terminal blocks allowing
up to 256 digital inputs or outputs and up to 100 analog inputs
SM-I/O Timer
and outputs per bus coupler. Up to 64 Beckhoff I/O systems
As per SM-I/O Lite but with the addition of a
can be attached to a CTNet network. I/O points can be easily
Real Time Clock for scheduling drive running.
read or written. Contact Control Techniques for details on the
SM-I/O 120V wide range of available Beckhoff Remote I/O options.
Additional I/O conforming to IEC6 1131-2
120VAC. 6 inputs and 2 non-protected relay COMMUNICATION
outputs rated for 120VAC operation. SM-DeviceNet SM-PROFIBUS - DP SM-SLM
SM-I/O PELV
Double Insulated Extended I/O to NAMUR NE37
specifications for chemical industry applications.
SM-I/O Plus
This module enables the drive system designer SM-CANopen SM-INTERBUS SM-SERCOS
to solve more complex applications by providing
additional inputs and outputs that the Unidrive
6 can access locally.These connections are on
removable terminal strips and are programmable
using CTSoft or the drives keypad.
SM I/O Plus Terminal Diagram CT Net and Modbus

RTU via SM- SM-CAN SM-Ethernet
Input/Output; Communication
Applications
PL 1
Unidrive 6
24 VDC
Communications Interface Module System

Protocol Order Code Configuration
Modbus RTU* SM-Applications Master/Slave
PL 2 PROFIBUS-DP SM-PROFIBUS-DP Slave
INTERBUS SM-INTERBUS Slave
CTNet SM-Applications Peer-to-Peer
DeviceNet SM-DeviceNet Slave
SM I/O Plus Terminal Description CANopen SM-CANopen Slave
Quantity Description Notes CAN Interface SM-CAN Master/Slave
2 Relay Contacts (N.O.) 110 VAC, 2 A resistive SERCOS SM-SERCOS Slave
3 Digital Input +24 VDC, 7.5k Ohms ModbusTCP/IP Slave
SMTP Mail SM-Ethernet Slave
FTP Filetransfer N/A
2 Analog Voltage Input 10 VDC, 20k Ohms,
10 bit SLM SM-SLM Slave
1 Analog Voltage Output 10 VDC @ 30 mA max., * Modbus RTU is standard. An additional Modbus RTU port can be provided
10 bit with an SM-Applications module.

SM-SLM debugging features for maintenance and to help you to get your
The SM-SLM module allows connection to solution into service faster.
Control Techniques high performance digital Real Time Control SM-Applications gives you real-time
servo system, offering over 8,000,000 counts per access to all of the drives parameters plus access to data from
revolution velocity feedback. For performance benefits of I/O or other drives.The module uses a high-speed multi-tasking
technology see section 7.2 for centralised motion control. operating system with task update times as low as 250s, fully
Fieldbus Connectivity synchronised to the drives own control kernel to give you the
best possible performance for drive control and motion.
Inputs/Outputs The module has two digital inputs and two
Fieldbus
Gateway digital outputs for high-speed I/O operations such as position
3 Networks capture or actuator firing and a fast optically isolated RS485 port,
supporting standard protocols such as; Modbus for connection to
external devices like Operator Interface panels or synchronous
communication using the protocol.
SM-Applications Lite
Fieldbus The SM-Applications Lite module is designed
Gateway
to solve your automation requirements where
2 Networks
intelligence is needed on a standalone drive or
a drive connected to a centralised controller
via I/O or Fieldbus.
The Module provides many of the functions of SM-
The Unidrive 6
Applications but may be programmed using either SyPTLitor Lite
provides unrivalled fieldbus flexibility. Using the Fieldbus Gateway
feature a single Unidrive 6 5can be configured to communicate . SM-Applications Lite with SyPTLit
Lite gives you an
on both DeviceNet and PROFIBUS-DP networks simultaneously. intermediate level automation solution that is suitable for a
wide variety of applications, while and SM-Applications
Lite will allow you to exploit the full power and performance
Application Modules
APPLICATION MODULES
Unidrive 6
of the option module in stand-alone applications.
SM-Applications
SM-EZMotion
The SM-Applications module transforms your
The SM-EZMotion is ideal for all of your
Unidrive 6 drive into a powerful automation
motion control applications whether simple or
controller that adds PLC functionality and can be devices via our
highly complex. Windows based PowerTools
drive-to-drive network CTNet.This gives you all of the benefits of
Pro configuration software helps to simplify
a fully distributed control system including better performance,
applications whilst maintaining flexibility and functionality.
reduced cost and smaller electrical panel sizes.
The module is equipped with four high speed digital inputs
Performance The SM-Applications module contains its own
and two digital outputs for external control. Simplify all
high performance microprocessor, leaving the drives own processor
of your motion applications by using the built-in High-Speed
to give you the best possible motor performance. It contains 384K
Capture, Queuing, Profile Summation, and Program Multi-
of user program memory, meaning that you are never likely to be
tasking capabilities.
limited by the program size or processing power of the module.
Ease of use defines this multipurpose motion controller.Take
Easy Powerful Configuration The PLC functionality is
advantage of all its features to quickly solve these applications:
programmed using (System Programming Tool) allowing
you to tackle automation problems from simple start and stop Simple Indexing Phase Synchronisation
sequencing through to more complex machine and motion Pick and Place Random Infeed Control
control applications.The device is programmed within an
IEC61131-3 environment with your choice of 3 languages,
Flying Shear Rotary Knife
meaning that you will be quickly familiar with the intuitive

High Speed Labeling And many more...
user interface. provides a suite of diagnostic and

APPLICATION PROGRAMMING The SyPTLite

Lite program may be copied to or from the
SOFTWARE on the drive, allowing the data to be safely stored or retrieved

for serial machine manufacture and maintenance purposes.
Lite
SyPTLite
SyPTLitewith
Lite SM-Applications Lite and Unidrive 6.
SyPTLiteis
Lite a ladder diagram editor that allows you to develop
The SM-Applications Lite contains its own high-performance
programs that can be executed onboard Commander SK with
microprocessor, of the same type as used in the drive, giving
LogicStick, onboard the Unidrive 6 built-in PLC or on
you access to a step change in PLC power and more than
SM-Applications Lite option modules.
doubling the program size available up to 10kb. Using this
SyPTLiteis
Lite designed to meet the needs of the majority of option module gives you the flexibility to decide how your
automation users wishing to extend the functionality of the program task will run, either background or cyclic.The cyclic
drive to add simple PLC functionality such as drive control and task means that the program will start on a fixed time-base
sequencing.The software has been developed with a focus on that is synchronised with the drives own internal control loops.
intuitive ease of use allowing you easy access to all of the The time-base is selectable between 1 200ms.
drives parameters and to monitor and debug your program
SM-Applications Lite and SyPTLiteoffer
Lite a compelling
on line.
alternative to traditional mini-PLC
SyPTLitecontains
Lite a comprehensive library of functions that systems, in applications where cost, foot
are based on a subset of those available in the print size and performance are critical.
Note: Full SM-Applications does not support
Arithmetic Blocks Comparison Blocks SyPTLite
Lite programs.
Timers Counters
Multiplexers Latches Lite IS SUPPLIED FREE WITH THE
Bit Manipulation DRIVE OR VISIT

SyPTLitewith
Lite Unidrive 6 onboard PLC
Unidrive 6 supports ladder-programming capability, i.e.
Application Programming Software
the drive itself is capable of storing and executing a SyPTLite

Lite
program without the requirement for additional option

Unidrive 6
modules.The drive is prioritised to execute all motor

control related functions first and will use any remaining
processing time to execute the SyPTLit Lite ladder
diagram as a background activity.
Level 4
Full SM-Applications
option module with
Level 3
SM-Applications Lite option with flexible software
flexible software allows networking of
Level 2 multiple drives

option with standard
ladder SyPTLite
Lite software
Level 1
Standard Unidrive 6 on-board PLC
with standard ladder SyPTLite
Lite software

System Programming Toolkit

Overview is the professional drive programming
toolkit for OEMs and End Users who wish to maximise the
performance of their machines and factory.This IEC61131-3
programming software offers greatly enhanced functionality
allowing you to connect drives, Operator Interfaces and I/O to
a network and configure how they exchange data.
allow you to program in your choice of three different
Ladder incorporates an IEC 61131-3 Ladder
languages, with a real-time multi-tasking environment. It contains
language editor. This form of programming will be familiar to
a suite of monitoring and diagnostics features that help you to
all PLC programmers and is the ideal format for sequencing
reduce the time it takes to develop your programmes and
and I/O control.
allows you to get your machine into
service faster.
may be used to program Unidrive 6 with
SM-Applications and SM-Application Lite option modules
DPL Drive Programming Language is a structured text

language, as easy to use as BASIC, incorporating many
standard constructs, such as IF,THEN, ELSE, and FOR,
NEXT loops. DPL is ideal for initialising, configuration and
(and Mentor II DC Drive with MD29 option modules).

general programming.
Industrial Network allows you to configure a
Diagnostics and debugging Good diagnostics are
single drive or a complete drive system connected to a
Unidrive 6
essential and ensure:
network. CTNet is an industrial network designed to be
deterministic, robust and tolerant to noise and interference. Software development time is minimised.
An OPC server is available free of charge from your local Commissioning time is reduced.
Control Techniques Drive Centre or Distributor. Down time is cut dramatically.
Programming allows you to program in your contains a suite of diagnostic tools that help you to
choice of three programming languages; Function block find problems with the system or software quickly and easily.
diagram, Ladder diagram and DPL (Drive Programming When connected on-line, shows you live real-time
Language). And offer a multi-tasking environment where the views of variables in Function Block Diagrams, Ladder
tasks are scheduled according to the required speed of Diagrams and DPL, and allows you to execute program
execution or triggered by events. stepping and breakpoints.
Function Block incorporates an IEC61131-3 System Watch Window Allows you to monitor real-time
function block diagram editor, and comes with a library of variables and parameters form a single drive or multiple drives.
more than 250 function blocks for both simple and complex
functions.These embed years of application experience to
make your software easier to write and easy to re-use.
Additionally you can create a library of your own function
blocks or update your library via our online user resources
SyPTPro.com. All function blocks may be used in any of the
three languages.

POWERTOOLS PRO FOR

UNIDRIVE 6 AND SM-EZ MOTION
The PowerTools Pro software in combination with the
SM-EZMotion module enables you to fully realise the motion
control power of the Unidrive 6. A familiar Windows
interface provides operators and machine builders with the
tools needed to access everything required for complete
servo control PLS, Queueing, Analog-In, User Variables,
High-Speed Capture, Electronic Gearing, Multiple Profile
Summation, S-Curve Accel and Decel,
Program multitasking, Synchronised
motion, and more. An unexpanded Hierarchy View is shown on the left-hand side
of the SM-PowerTools startup screen.
Developing applications with
PowerTools Pro is an easy User Units
five-step, top-down process that User Units are the first item under Setup on the PowerTools
quickly gets your applications running. hierarchy. User units deliver high resolution performance and
The five task areas that need to be ease of use. Motion can be programmed in any units that the
completed in order are found in the Windows Hierarchy user desires. Setup the 32-bit data resolution for position,
View Hardware, Setup, I/O Setup, Motion, Programs and velocity, and acceleration data one time and the rest is done
Network. Some areas may not need completing, as some for you. Select from optional time scales for Velocity and
applications, such as a flying cutoff may not require Acceleration units.
programming nor network parameters to operate.
Programs
Combine program flow and motion instructions to create fully
Programming software for the SM-EZMotion customised user programs up to 1,000 lines of code. Use
module that gets applications up and running

conditional branching, wait for, program calls, formulas, user
quickly, from the simple to the complex
variables, and numerous motion instructions to solve your
Unidrive 6
Hierarchy View provides for an easy, flexible, and complex applications. Easily create programs, such as the drill
powerful programming environment head positioning program below, by dragging and dropping,
or typing program instructions, variables, I/O, and formula
Familiar Windows-based processes simplify operands into your program screen. Use the SM-EZMotion
entering data
module to run one program at a time, or up to four
Fill-in-the-BlankValues programs simultaneously!
Point and Click Radio Buttons
Scrolling Menu Selections
Drag and Drop parameters and I/O assignments
Online Watch window for diagnostic, fault, and

parameter updates
OR VISIT

Expanded Hierarchy View
Assignments
Use our Virtual Wiring to create programs right out of the box, without writing
a line of code. For example, the assignment screen below shows how easily a
flying cutoff routine can be created.
Indexes
Setting up indexes is easily
accomplished by filling in the
screens blanks to create an
index profile. Select from
Incremental, Absolute,
Registration, or Rotary Plus and
Minus types. Choose the time
base of the index by selecting
either realtime or synchronised
to a master.

Profiles
Unidrive 6
This function allows the user to
simultaneously execute any two
motion types together resulting
in a summed profile (i.e. Gear + Example Index screen
Index, Jog + Index, Index +
Index, etc.). Summing profiles is
ideal for phasing applications
such as Random Infeed, Rotary
Knife, Merge Conveyor, and any
number of other applications.
Multiple Profiling

Tension Tension
Sensor Sensor
DUAL MODE WINDER

The Dual Mode Winder Application Software is the result of
over 35 years of programming successful winder applications
for a wide variety of materials and industries.
CTNet
The term Dual Mode refers to the ability of the software to
switch between torque and speed control modes, often a
critical requirement in demanding applications such as high
Standard Features
speed dual-turret, flying splice machines.The Dual Mode
Winder Application Software supports over 95% of industrial Torque Control Mode, including
winding applications. Constant Tension Centre Wind
The addition of a co-processor option module loaded with Speed Control Mode
the Dual Mode Winder software provides a low cost flexible Dancer Feedback
solution for a wide variety of winding applications. Load Cell Feedback
Paper and Film Unwind and Rewinders Dancer Air Loading Output
Single or multi spindle Line Speed Input
Low tension high speed unwinds Diameter Calculator
Metal Coilers and Uncoilers Inertia Compensation
Speed based control for thin strip with precise Taper Tension linear or hyperbolic
tension control
Unwind/Rewind Selection
Torque based control for heavy strip without Web Break detection
tension feedback
Stall Tension adjustment
Solutions Software
Unidrive 6
Speed/Torque control switching on the fly Multiple Preset Diameters

Wire, Cable and Textile Spoolers
Jog
Torque or speed controlled spoolers Torque Memory
Solutions Software Order Code
All data entry done using Engineering Units
Dual Mode Winder SSP-4000-0010
Accessories
Fieldbus communication options:
Modbus, DeviceNet, CANopen, PROFIBUS DP, INTERBUS,
Ethernet and CTNet
Expanded I/O option
CTNet Modular I/O
Range of HMIs
Dynamic Braking
Regenerative Braking

Flying Shear Inline
1OZ 2ABC 3DEF
F1 F2 F3
Operator
Unidrive 6
4GHI 5JKL 6MNO
F4 F5 F6
Interface 7PRS
F7
8TUV
F8
9WXY
F9
0 Space
Unimotor
Del F10 +/-
CTIU
FLYING SHEAR CONTROL Motion
Master
The Flying Shear is a common industrial application for cutting Encoder Motion
g
Ba
r
tin
ut
C
a continuous product to a set length while at line speed.This
means that the main production process is not interrupted,
and so machine productivity is maximised.
Typical applications include various types of cut to length
machines, depositors, punches, product inspection, or any other Flying Shear Angled
process where synchronisation at line speed is required.
Standard Features
Easy configuration
Hardware and software limits Unidrive 6
Manual jog functions

Several homing modes
High speed output is used to initiate the cut
Registration capture Master
Encoder
Unimotor
Batch control functions
Dynamic motion profile changes on the fly
Engineering units are used for programming Adjustable Angle
Units are defined for the master and slave axis as the
number of encoder counts per unit.These are entered as a
Solutions Software
Unidrive 6
numerator and denominator to allow fractional values
Resolution of the cut-length may be entered to Solutions Software Order Code
within 0.001 units
Flying Shear Control SSP-4000-0020
Profile optimization reduces the machines mechanical stress:
The return profile is calculated to operate at the slowest
speed and acceleration rate, and yet with sufficient time to Accessories
achieve the next cut, either triangular or trapezoidal profiles
are used
Modbus, DeviceNet, CANopen, PROFIBUS DP, INTERBUS,
Parallel and angled carriage applications are handled Ethernet and CTNet
Expanded I/O option
CTNet Modular I/O
Range of HMIs
Dynamic Braking

Operators Interface
3 PHASE SUPPLY
1OZ 2ABC 3DEF
F1 F2 F3
CONTROL
4GHI 5JKL 6MNO
F4 F5 F6
7PRS 8TUV 9WXY
F7 F8 F9
0 Space
Del F10 +/-
Assist 5 Assist 4 Assist 3 Assist 2 1

Duty
Steam/
FAN & PUMP DUTY ASSIST Hot Air
COOLING TOWER 5 COOLING TOWER 4 COOLING TOWER 3 COOLING TOWER 2 COOLING TOWER 1
Hot
The Duty-Assist control is an effective method of controlling Water
multiple pumps or fans in parallel to maintain the required

process demand. Pumps and fans are often used in parallel Temperature
Transducer
Cool Water
banks to avoid motor overload, guarantee security of supply
through system redundancy, reduce running costs due to
system load cycles, and provide a wide range of control
and flexibility. More Features
The system consists of a Duty Drive and assist starters.The
assist starters can be of any type, (e.g, Contactor, Wye-Delta,
Auto-changeover to ensure starters are not continually
running for long periods of time
Auto-Transformer, Soft Starter or Inverter); the choice is
dependent on the system limits.The Duty drive can control Assists number of starts per hour protection (selectable)
one dedicated motor (Fixed Duty), or with additional external Assist Override delay to react to peak demands (selectable)
switchgear could be selected to control other motors within All data entry for set-up in engineering units
the parallel configuration (Flexible Duty). Accessories
Standard Features Fieldbus communication options:
Fixed Duty Motor up to 4 assist starters can Modbus, DeviceNet, PROFIBUS DP, INTERBUS and CTNet
be controlled
Expanded I/O option
Flexible Duty Selection up to 3 assist starters
CTNet Modular I/O
can be controlled
Range of HMIs
Assist or Duty selection by Runtime (to ensure Dynamic Braking
Solutions Software
Unidrive 6
each pump/fan is equal used) or a set sequence

Automatic reselection requested assist fails to start Regenerative Braking
Local/Remote: Digital control from Unidrive terminal I/O Solutions Software Order Code
or via fieldbus
Stand-alone or system configurable
Set-points and feedback can be derived as direct analog
signals or by fieldbus
2 selectable process set points for use with
day/night function
Process High and Low trip thresholds (selectable)
Inverse Speed characteristic (selectable)
No Flow Protection (selectable)
Wake/Sleep, Energy save function (selectable)
Dynamic V/F, Energy save function (selectable)
Cascade System Stop (selectable)

Unidrive 6
Special note on emergency stop functions
To avoid misunderstandings it is important to make clear the
Secure Disable Function purpose of the Secure Disable function. It has the ability on
request to prevent unintended operation of the motor, with a
Overview very high level of integrity, i.e. despite the occurrence of faulty
The Secure Disable feature on the Unidrive 6 AC allows components.This is intended to be used in the normal range
the drive output to be disabled so that the drive cannot of functions of a machine, to prevent unexpected movement
generate torque in the motor. Secure Disable also provides a when this might cause a hazard. For example, a safeguard or
normal enable input to the drive, and can be used in the interlock system might be provided so that when a guard is
same way. open and an operator might be within the area protected by
the guard, operation of the drives within that area is inhibited.
A +24V logic level must be applied in order to enable the
This could be a normal and frequent condition of the machine,
drive power functions. However the internal circuitry has been
so that a failure to inhibit the drive could be quite likely to
designed using in-depth fail safe approved techniques and
result in serious injury.
principles so that no single fault or component failure can cause
a disabled drive to produce motor shaft torque. Only in In general, Secure Disable is not intended to provide an
extremely unlikely combinations of faults could this function be emergency stop function.The requirement for an emergency
defeated. Secure Disable can therefore be used in safety-related stop is different from a safeguard.The emergency stop is not
applications to prevent unintended operation of the motor. specifically a very high integrity function, because it is not
intended to be used routinely to ensure personal safety. It is
Old New intended to provide a simple over-riding method for
Electromechanical 3 ~ AC Unidrive 6 completely removing power to all actuators in the event of an
Solution Secure Disable Solution
unforeseen hazardous situation, regardless of the state of the
3 ~ AC
machine. It is used when the intended, designed safety
Conventional UNIDRIVE 6 provisions and operating rules of the machines have failed, and
Drive
an operator realises that a hazardous situation has occurred.
Secure According to standards such as EN 60204-1 (Europe), IEC

disable
Secure Disable Function

Enable K1 ............................
60204-1 (International) and NFPA 79 (U.S.A.), the final

Unidrive 6
removal of power for emergency stop must be carried out by
M M hard-wired electromechanical components.The use of Secure
Disable alone will not fulfil this requirement.
Figure 1: The Secure Disable function can take the place of control
gear, saving components and space for the same level of security WARNING Important Warning
The reliability of the Secure Disable function is superior to that The design of safety-related systems requires specialist
offered by virtually any single channel electromechanical device knowledge.To ensure that a complete system is safe
such as a contactor. It is like having a special highly reliable requires an overall risk assessment.The use of Secure
contactor built in to the drive output, but there are no moving Disable and other equipment intended for safety-related
parts, no extra cost, and no special requirements for applications does not of itself ensure safety. They must be
preventing the contactor from opening on load. It offers the correctly incorporated into the complete design.
possibility of eliminating contactors, including special safety
contactors, from systems where the prevention of movement WARNING The information in this publication gives guidance
is important to prevent safety hazards or expensive damage. on the use of Unidrive 6 Secure Disable, and also some
general background material on the design of safety-related
systems.This information is believed to be correct and to
reflect accepted practice at the time of writing. However it
is the responsibilty of the designer of the end product or
application to ensure that it is safe and in compliance with
relevant regulations.

SECURE DISABLE APPLICATIONS Case 2 Interlock (previously with feedback) to

EN 954-1 Cat 2
As well as in conventional non-safety-related applications, Secure
Disable can also be used in any position where contactors with Old New
Electromechanical Unidrive 6
connected movement are used to achieve safe disable. Solution Secure Disable Solution
3 ~ AC 3 ~ AC
Case 1 Simple stop/start control to EN 954-1 Cat1 +24V +24V
Reset ......
...... K1
Interlocks Safety
Old New Interlocks Safety Conventional Relay
Relay
Electromechanical Unidrive 6 Drive
SD
3 ~ AC
PROTECTED
K1. . . . . . . . . . . . . . . . . . . . . . . K1 ........................................... WIRING
3 ~ AC (screened or
+ 24V + 24V M
segregated)
M
Stop ......... Stop

conventional
drive SD
K1 K1 The failure mode where the relay closes (or stays closed)
Start ...... Start
when not energised no longer exists, so the feedback contact
K1 M K1 is not required.The enable input wiring has to be protected
M in order to avoid the possibility of a short circuit to positive
d.c. supply or digital logic signal which could cause inadvertent
enable. Protection is achieved either by ensuring physical
The benefits of using Secure Disable on the separation from all other circuits or else by the use of a
Unidrive 6 are: cable with an earthed screen so that a short circuit always
Power contactor replaced by a signal relay results in an earth fault and a loss of the logic signal (see
(cost and space saving) EN ISO 13849-2).
Drive can now have power applied continuously, so that The benefits of using Secure Disable are:
its auxiliary functions remain active Power contactor (with connected movement) eliminated
(cost and space saving)

24V DC logic supply can be taken from the drive,
Unidrive 6
eliminating an external supply (cost and space saving) Feedback checking arrangement eliminated
No need for drive early-disable arrangement
The additional cost of arranging protected wiring for the drive
enable input is small compared with these benefits.
Case 3 Fail safe interlock (previously with
feedback) to EN 945-1 Cat 3
Old New
Electromechanical 3 ~ AC Unidrive 6
3 ~ AC
K1
Feedback Conventional SD
K2 Drive Enable
Enable K1 . . . . . . . . . . . . . . . . . . . . . . . . . . .
PROTECTED
K1 K2 K2 . . . . . . . . . . . . . . . . . . . . . . . . . . . WIRING
(screened or M
M segregated)

Again the failure mode where a relay closes (or stays closed) Case 4 Secure Disable used in EN 954-1
when not energised no longer exists, so the feedback contacts Cat 4 applications
are not required.This also means that in order to achieve
EN 954-1 category 3 it is no longer necessary to provide two 3 ~ AC
Feedback 2 ........ K2
channels for interrupting the power, because no single faults
cause the motor to be driven. As in the previous case, the
enable input wiring has to be protected in order to avoid the K1
Feedback 1
K2
possibility of a short circuit to a positive d.c. supply or digital
SD
logic signal which could cause inadvertent enable.
The benefits of using Secure Disable are: Enable
....... K1
Two power contactors with connected movement K1 K2
eliminated (cost and space saving) M
Feedback checking arrangement eliminated

No need for drive early-disable arrangements The benefits of Secure Disable are:
Again the additional cost of arranging protected wiring for the Power contactor with connected movement replaced by
relay or controller logic input (cost and space saving)
drive enable input is small compared with these benefits.
Category 4 applications EN 954-1 No need for drive early-disable arrangement
Secure Disable alone meets the requirements of category 3. Provision of electronic braking for rapid stop.
It can form part of a category 4 application.The additional The drive is capable of active braking through the motor, but
requirements are: this not a high-integrity function. Where braking is desirable,
such as in an emergency stop function, but the actual safety
A further channel for inhibiting motor operation in the function is the removal of power from the motor, a time delay
event of an accumulation of faults, for example a
contactor with contacts having connected movement is required between instructing the drive to stop and then
and a test arrangement disabling it.

A fail-safe time delay relay can be used for this function, such
A method for testing that Secure Disable is intact.This can
Unidrive 6
as shown in Case 5. Safety relay ranges include relay expansion
be done by testing that no voltage is present at the SD
units with a delay feature. In this arrangement the drive brakes
input, since the only credible failure modes result in voltage
as soon as the gate is opened, and is disabled securely after
appearing at that point.The test can be done by a
the delay relay de-energises.
conventional relay, but that relay must itself be tested
It must be emphasised that if braking is itself a safety
For an electromechanical system, the arrangement is the same
requirement, i.e. if the braking does not operate then there is
as for case 3.The difference from category 3 application is the
an unacceptable risk of injury, then a fail-safe brake must be
degree of checking in the control circuit which provides the
provided, such as a mechanical brake with electrical hold-off.
two inhibit channels.
Case 5 Provision of braking through the drive
Case 4 shows a possible arrangement. Feedback 1 is used in
the same way as for the electromechanical systems, allowing a
3 ~ AC
test of the safety function whenever the control relay (or other
Start
control circuit) is reset. Feedback 2 is used to test the Reset ......
monitoring relay, for example it may be included to latch in a ......
start circuit so that if the relay does not operate the circuit fails SD
Interlocks Safety
to latch. In an electronic control system, this feedback could be Relay
provided by a logic input on the controller. Feedback Expansion

Relay with delay
PROTECTED M
WIRING
(screened or
segregated)

USE OF SECURE DISABLE FUNCTION Figure 2 shows how the system can be changed to use
IN ELEVATORS TO EN 81-1: 1998 Unidrive 6 with a single contactor.
Figure 2: Safety interface for Unidrive 6 with
The Secure Disable function in Unidrive 6 provides a highly
one contactor
secure method for preventing the motor from being driven
when the enable signal is absent. It can be used in place of
one of the two output contactors normally used for this
purpose in an elevator drive, giving conformity to European
Non-safety control lines Drive
standard EN 81-1:1998 and providing savings in space, cost
and maintenance requirements. Monitor 1 Link through
software
This guide explains how to incorporate the drive into an
Enable
elevator control system, which is assumed to conform to (Secure
EN 81-1 with the use of two contactors, and to enable one Disable)
...........................
K1/1
contactor to be eliminated. Controller
The guide does not apply to Unidrive 6 manufactured K1
contactor M
before 2005. Anyone wishing to use this function please refer
to your local Drive Centre to confirm drive serial numbers K1/2
with EN 81-1 compliant control circuits. Monitor 2
Connecting the safety-related circuits

Figure 1 illustrates in general terms the existing system with a
drive without Secure Disable.
Figure 1: Safety interface for existing controller with The controller output which previously operated contactor K1
two contactors now controls the drive enable input (Secure Disable).The
feedback for this channel is provided by a digital output from the
drive which is programmed to monitor the enabled parameter.
Secure Disable Function in Elevators
This interface can be through 24VDC logic levels or through an

interposing relay, as required by the controller design.
Unidrive 6
Non-safety control lines

To program the digital output, refer to section 11 and menu 8
Drive of the Unidrive 6 User Guide.
K1/2
Parameter 8.09 is the state of the enable input. Any of the
Monitor 1
digital outputs or input/outputs can be programmed to reflect
K1 8.09 by using their source pointers to point to 8.09.The
contactor ...........................
K1/1 inversion function should be set so that the digital output is
Controller
K2 ...........................
K2/1 high when the enable input is low.This gives the same sense as
contactor
the original auxiliary contact, and ensures that the more
K2/2 M common faults such as broken wires and earth faults in this
Monitor 2 circuit result in a fault indication to the controller.
If an interposing relay is used then it should have normally
open contacts, so that the more likely fault in the relay, non-
operation, results in a fault indication to the controller.
Although not required for conformity with EN 81-1, if the
controller is of the programmable type then the correct
functioning of the Monitor 1 drive digital output can be
monitored by checking that it goes low when the drive is
enabled, as well as going high when the drive is disabled. If it fails
to go low then the monitor circuit is not healthy and the
elevator operation should be prevented at the next opportunity.

Environmental protection ELECTROMAGNETIC COMPATIBILITY

The drive must be protected from condensation and Elevator requirements within the European Union are:
electrically conductive contamination. In exterior elevator EN 12015:1998 Emission
control rooms subject to rapid temperature and humidity
EN 12016:1998 Immunity
cycles some form of anti-condensation heating must be used.
The 1998 versions are current at the time of publication of
Independent verification to EN 81-1:1998
this guide (December 2004). Revised versions are expected to
Provided that the controller with two contactors as shown in be published early in 2005 (see below).
Figure 1 was in conformity with EN 81-1 12.7.3 method a),
The emission limits in EN 12015:1998 are similar to
the system shown in Figure 2 will also conform to EN 81-1
EN 61000-6-4, which is met by Unidrive 6 when using
12.7.3 method b).
the recommended optional input filter and screened motor
The recommended arrangement, including this guidance note, cable. Full instructions are given in the Unidrive 6 EMC
have been approved by TV as conforming to the data sheet.
requirements of EN 81-1:1998 for interruption of the supply
Particular notice must be taken of the recommendations
to the motor.
where a device such as the output contactor must be included
The Secure Disable function has no failure modes which could in the motor circuit.The EMC data sheet gives
result in an unexpected output to the motor, other than recommendations for managing this situation, which must be
modes which are excluded in Annex H of EN 81-1:1998. In followed carefully.The output contactor and any associated
this respect it is superior to the contactor, which has a unscreened wiring, and the contactor coil wiring, must be kept
relatively high probability of sticking closed and relies upon the well spaced from the input wiring to the filter, otherwise stray
auxiliary contact and second contactor to ensure safety in capacitive coupling will cause increased high-frequency
this case. emission from the power input wiring.
The monitor circuit uses complex hardware and software. Unidrive 6 meets the requirements of EN 12016
Since it might fail in an undetected (high) state, it is unconditionally.
recommended that either automatic checking is used within
Secure Disable Function in Elevators

Future revisions of EN 12015 and EN 12016
the controller, or else a manual check is carried out during
routine maintenance.The check should confirm that the Please refer to your local Drive Centre/Distributor for
information regarding EN 12015:2005 and EN 12016:2004.
Unidrive 6
output goes low when the drive is enabled.
A failure of the monitor circuit does not cause the system to
become unsafe.

Unidrive 6
For Unidrive SP4 to 9 a 24VDC external supply needs to be
connected to the battery mode enable on the drive. (This
LOW VOLTAGE DC OPERATION supply is in addition to the +24V external input).
Introduction Advantages of low voltage DC operation

Note: To design a system to operate from 48-96 VDC, please Low voltage DC operation is intended to allow for motor
read Application Note: Low Voltage DC Operation available operation in an emergency back-up situation following failure
as a download from controltechniques.com. of the AC supply, for example in elevators, or to limit the
motor speed of servo motors during commissioning of
Principles of Operation
equipment, for example a robot cell.
The Unidrive 6 is normally operated from a 3-phase AC
supply (200V, 400V etc.) or a DC supply of the equivalent Even though low voltage DC operation is intended for an
rectified voltage.This provides power for all control circuits emergency back-up situation, it is also possible to run the drive
via the SMPS (Switch Mode Power Supply), and power for the permanently in this mode. In the case were the low voltage
motor via the inverter. Instead of powering the drive from a DC power supply is in the form of a battery the length of
3-phase AC supply it is also possible to operate the Unidrive time that the drive will run is limited by the battery capacity.
6 from an external low voltage DC supply, the supply Operating modes
voltage is dependant on the drive frame size as detailed in the Low voltage DC operation can be used in any of the
table below. following modes:
Drive size Nominal continuous 1. Open loop mode
applied low voltage DC
1 48
Open loop vector
2 48-72
Fixed V/F mode (V/Hz)
3 48-72
Quadratic V/F mode (V/Hz)
2. Closed loop vector
4 48-96* 3. Servo
59 48-96 Low voltage DC operation speed limitation
Low Voltage DC Operation
*Size 4 low voltage drives have a nominal continuous applied

Unidrive 6
low voltage of 48V.

WARNING Low Voltage DC operation
It is possible under certain circumstances for the Low voltage
CANNOT be used to limit the
DC to be higher than the above stated values, for example if
speed of an induction motor.
regen energy is allowed a return path to the supply, the DC
level would rise.
WARNING The drive can only provide rated
Note that this method of drive operation will be referred
torque at low speeds as described above. It is very
to as Low Voltage DC operation through the remainder of
important to consider this when operating with an
this document.
overhauling load such as elevator applications, where even
For low voltage DC operation, as well as the main low voltage
with the correct braking resistor selection, the drive
DC supply the following external supplies are required.
may not be able to maintain control of the load if the
For all Unidrive 6, a 24VDC supply must be connected to drive goes into field weakening.
the +24V external input on the green control terminal block
of the drive.This supplies the control circuitry and may be When set up for low voltage DC operation, the drive can
connected permanently. provide rated torque to the motor at low speeds.The
maximum speed that can be achieved whilst operating from
this supply is dependent on the type of motor connected to
the drive.

Operation with an induction motor RATINGS

When operating with an induction motor the drive will Drive output current ratings
effectively start to field weaken at the point that the output The table below shows the maximum continuous output
voltage requirement (based on the programmed V/F) reaches currents of the individual drives, current de-rating may need to
the maximum that the DC bus voltage of the drive can be considered under certain conditions. See the Technical
support (about 34V based on a DC bus of 48V). e.g.The drive Data chapter of the Unidrive 6 User Guide for full details.
would begin to field weaken the motor at around 4Hz for a
50Hz 400V motor. Maximum continuous output current (200V drives)
The drive may continue to rotate the motor up to base Model FLC (A) Model FLC (A)
speed. However, even with no external load (just a bare Normal Duty Normal Duty
motor shaft) the motor could stall due to the reduced torque SP1201 5.2 SP3201 42
available whilst so far into field weakening.
SP1202 6.8 SP3202 54
Be aware that reduced torque may be experienced in
SP1203 9.6 SP4201 68
instances where the motor requires significant volts to
magnetise; the reasons for this are: SP1204 11 SP4202 80
SP2201 15.5 SP4203 104
The external low voltage DC power supply has reached
the maximum supply voltage to the drive SP2202 22
The drive has reached the maximum allowable output SP2203 28

voltage available in this mode of operation
Operation with a servo motor Maximum continuous output current (400V drives)
Model FLC (A) Model FLC (A)
WARNING When in Low Voltage DC operation Normal Duty Normal Duty
the Unidrive 6 may NOT be able to limit the speed SP1401 2.8 SP5401 138
of a servo motor with an overhauling load. SP1402 3.8 SP5402 168

SP1403 5.0 SP6401 202
Unidrive 6
WARNING If a permanent magnet motor is SP1404 6.9 SP6402 236
made to rotate at a high enough speed by an external
SP1405 8.8 SP7411 202
torque, the DC bus of the drive and its associated
wiring could rise above 48V. SP1406 11 SP7412 236
SP2401 15.3 SP7413 290
The speed of the motor is limited based on the ke of the SP2402 21 SP7414 350
motor. e.g. with a 3,000rpm Unimotor (with a ke of SP2403 29 SP8411 440
98.0V/krpm), a 48V DC bus would allow a motor speed of
SP2404 29 SP8412 540
up to around 347rpm.
SP3401 35 SP8413 620
SP3402 43 SP9411 700
SP3403 56 SP9412 770
SP4401 68 SP9413 850
SP4402 83 SP9414 990
SP4403 104 SP9415 1150

Maximum continuous output current (575V drives) Low voltage DC rating

Model FLC (A) Model FLC (A) On all but size 1, the nominal low voltage DC supply level is
Normal Duty Normal Duty set by the user in Pr 6.46.
SP3501 5.4 SP6601 2 125 On the size 1 drive this value is non adjustable, however on
sizes 2 and above the parameter can be set to the value
SP3502 6.1 SP6602 2 144
decided by the user but within the limits as set out below.
SP3503 8.3 SP7611 2 125
The default setting is 48V for all the drive sizes.The over
SP3504 11 SP7612 2 144
voltage trip threshold and braking IGBT turn on voltage are
SP3505 16 SP7613 2 168 scaled from this value as follows:
SP7614 2
SP3506 22 192
Brake IGBT turn on = 1.325 x Pr 6.46 (V)
SP8611 2
SP3507 27 274
Over voltage trip = 1.45 x Pr 6.46 (V)
SP4603 2 36 SP8612 2 341
SP4604 2 43 SP9611 2 428
SP4605 2 52 SP9612 2 483
SP4606 2 62 SP9613 2 505
SP5601 2 84 SP9614 2 637
SP5602 2 99 SP9615 2 705
Maximum continuous output current (690V drives)

Model FLC (A) Model FLC (A)
Normal Duty Normal Duty
SP4601 22 SP7613 168
SP4602 27 SP7614 192
SP4603 36 SP8611 208
SP4604 43 SP8612 263

Unidrive 6
SP4605 52 SP8613 331

SP4606 62 SP9611 374
SP5601 84 SP9612 429
SP5602 99 SP9613 478
SP6601 125 SP9614 526
SP6602 144 SP9615 591
SP7611 125 SP9616 655
SP7612 144
2 The same model can be used on a 575V or a 690V supply, and has two
different output ratings. For example: At Normal Duty, SP4603 is suitable
for a 22kW output motor on a 575V supply, and a 30kW output motor
on a 690V supply.

Model Minimum Minimum Nominal Maximum Maximum Required

continuous start up continuous braking over voltage current
operating voltage (V) operating IGBT turn trip threshold rating of low
voltage (V) voltage (V) on voltage (V) voltage DC
(Pr6.46) (V) supply (A)
SP1 36 40 48 63.6 69.6
SP2 36 40 48-72* 95.4 104.4
SP3 36 40 48-72* 95.4 104.4 2 x drive
output current
SP4 36 N/A 48-96** 127.2 139.2
(heavy duty
SP5 36 N/A 48-96* 127.2 139.2 current rating)
SP6 36 N/A 48-96* 127.2 139.2
SP7 36 N/A 48-96* 127.2 139.2
* Dependant on the setting of Pr 6.46 as discussed earlier.

** Size 4 low voltage drives have a nominal continuous
applied low voltage of 48V.
For larger drives please consult your local Drive Centre
Minimum and maximum voltage values include ripple and noise.

Ripple and noise levels must not exceed 5%.
Model Maximum Minimum Nominal Minimum

continuous continuous continuous start up
Unidrive 6
operating operating Operating voltage (V)
voltage (V) voltage voltage (V)
All SP 30 19.2 24 21.6

24V battery mode enable rating
The table below shows the specification of the 24V battery
mode enable terminal that the user supply should meet.
Model Maximum Minimum Nominal Current
continuous continuous continuous consumption
operating operating Operating
voltage (V) voltage voltage (V)
SP 1-3 N/A N/A N/A N/A
SP 4-7 30 19.2 24 >470mA


Mentor II Communication
Cards & Distributed
Solutions Platform Control Cards
DC Drive
Mentor II
Operator Interface
MO
DE

PA
RA
MET
ER
DAT
A
Dr
ive
Alar Read
m y
Ze
ro
Ru spee
n fo d
PA Ru rw
n re ard
RA Br ve
MET idg rse
ER Br e 1
idg
IND At e 2
EX sp
Cu eed
rre
nt
lim
it
RE
SE
T
DC Motor
HMI Universal
Operator Keypad
Interfaces
DC motor with
tachometer or
Input/Output encoder
Applications &
Communications
UL
E Communications
OD
M
I/O
Mentor II
Overview
I/O Box Remote I/O
MD25 MD24 MD1BS

Typical Applications
Extruder
MentorSoft SyPT2 Preconfigured
Drive Configuration System Programming Application
Tool ToolKit Solutions
Configuration & Programming
Cooling Rolls
DC motor
Turret Rewind
Applications Mentor II
Overview
Applications Applications
Modbus RTU
MD29 Modbus RTU
MD29AN

Mentor II
The Intelligent Drive
OVERVIEW
DC drives are widely used in applications that require
regeneration, precise speed control, dynamic performance, and
constant torque over wide speed ranges.The Mentor II
delivers the universal DC drive solution.
Simple stand-alone applications are easily configured to control
motor speed, voltage or current using standard internal
settings. Set-up is convenient using the drive keypad, CTKP
remote keypad, or MentorSoft, a Windows based drive
configuration tool.The Mentor II has extensive diagnostic and
communication abilities that enhance system reliability.The
drives standard yet powerful microprocessor is a versatile
system component that can eliminate the need for a PLC with Extrusion
integral functions such as thresholds, timers and logic gates Solutions Drive
that perform basic control.
The simple addition of the MD29, a 32-bit application
co-processor card, provides high performance drive systems
with local intelligence for true distributed control.The MD29
enables users to incorporate custom or proprietary process MODE

PARA
METE
R DATA Drive
AlarmReady
Zero
Run speed
forwar
PARA Run
reversed
Bridge
METE
Bridge 1
R INDE
At 2
speed
X Curren
t limit
control application programs to their drive.The Mentor II also RESET
provides a wide range of communication protocol options.

Mentor II systems have proven to be extremely reliable and
are ideally suited to web handling, winders, slitters, extruders,
wire drawing, converting lines, and plastics production.The
Mentor IIs integrated design and highly programmable features
make it an ideal choice for OEMs and System Integrators, as
well as replacement or retrofit drives for End Users.
Microprocessor based Digital DC Drive
5.5 to 750 kW, 3 phase, 208 to 660 VAC
Regenerative and non-regenerative models
RS485 serial communications
Extensive fieldbus communication capabilities
Plug-in 32-bit application co-processor
card (MD29 and MD29AN)
Mentor II
Overview
MentorSoft Windows-based
drive configuration tool
1: 200
00
0
ISO 9
AL
AP
P ROV
LISTED E58592


Accepts wide range of supply voltage THREE PHASE INPUT
(208 to 660 VAC) 5.5 to 340kW (208-230 VAC);
Can be applied to worldwide voltages. 7.5 to 750kW (380-460 VAC) Special Order (525 & 660 VAC)
Non-regen and regen models share 208 / 240 VAC +/- 10%
the same footprint Motor Output Output Field Non-Regen Regen
Allows for common mechanical design and mounting. kW Current Current Output Order Order
(A) (A) Current Code Code
MentorSoft Windows based drive configuration tool @40C @55C
Provides easy programming and diagnostics of the drive. 5.5 25 20 M25 M25R
32-bit application co-processor card (MD29) 7.5 45 38 8A M45 M45R
Enables customised applications for distributed control 11 75 55 Current M75 M75R
system architectures. 18.75 105 89 Regulated M105 M105R
22 155 125 M155 M155R
PROFIBUS-DP, Modbus RTU, INTERBUS,
DeviceNet, and CTNet plug-in communication cards 30 210 172 M210 M210R
Communicates on users preferred network. 56 350 255 M350 M350R

75 420 338 10A M420 M350R
Built-in RS485 serial communications Fixed
100 550 428 M550 M550R
Allows for easy programming and control of drive. Voltage
125 700 508 1 M700 M700R
Extensive and configurable analog and digital I/O 175 825 675 M825 M825R
Customises drive to specific applications. 200 900 820 M900 M900R
20A Fixed
Programmable boolean logic (AND, NAND, OR, 260 1200 1150 Voltage M1200 M1200R
340 1850 1620 1 M1850 M1850R
NOR) gates with delay outputs
Assists with general system interface logic needs, expanding
380 / 480 VAC +/- 10%
application possibilities.
Motor Output Output Field Non-Regen Regen
Programmable threshold comparators kW Current Current Output Order Order
Expands application possibilities by providing a pair of (A) (A) Current Code Code
@40C @55C
independent numerical comparators with adjustable hysteresis.
7.5 25 20 M25 M25R
Built-in digital lock function for frequency following
15 45 38 8A M45 M45R
Allows accurate master/slave applications.
30 75 55 Current M75 M75R
Accepts DC tachometer and encoder feedback 37.5 105 89 Regulated M105 M105R
Enables precise speed control. 56 155 125 M155 M155R
Extensive diagnostics and fault indicators 75 210 172 M210 M210R
Used for accurate drive system diagnosis. 125 350 255 M350 M350R
150 420 338 10A M420 M350R
Order Code 200 550 428 Fixed M550 M550R
Voltage
M XXX R 250 700 508 M700 M700R
1
Mentor II
300 825 675 M825 M825R

Regen (omit for Non-regen) 340 900 820 20A Fixed M900 M900R
Output Current 450 1200 1150 Voltage M1200 M1200R
750 1850 1620 1 M1850 M1850R
Mentor II Product Family
1 For field control, add external field regulator.

TERMINAL DIAGRAM
Pin# Function Type/Description Notes Pin# Function 1 Type/Description Notes
1 +10 VDC Reference Supply 10 mA max 20 0V Common Circuit Common
2 -10 VDC 21 F1 (Run Permit) Digital Input +24 VDC, 10k Ohms
3 Speed Reference Analog Input, 12 bit 10 VDC, 100k Ohms 22 F2 (Inch / Jog Reverse)
or 4-20 mA, 100 Ohms 23 F3 (Inch / Jog Forward)
4 Analog Input GP/ 24 F4 (Run Reverse (latched))
5 GP 2 Analog Input 25 F5 (Run Forward (latched))
6 GP 3 Bi-polar, 10 bit + sign 10 VDC, 100k Ohms 26 Digital Input F6 Digital Input +24 VDC, 10k Ohms
7 GP 4 27 F7
8 Motor Thermistor Analog Input 3k Ohms trip point, 28 F8
1.8k Ohm reset level
29 F9
9 DC Tachometer (-) Analog Input
30 F10
10 DC Tachometer (+) Circuit Common
31 Drive Enable Digital Input 30 mSec inhibit delay
11 Armature Current Image Analog Output 6.6 VDC @ 150%
32 Reset Digital Input Fault Reset
current
Mentor II
33 +24 VDC Supply User Supply 200 mA max

12 Analog Output DAC 1
34 Form C Status Relay Relay Common 250VAC, 2.2A
13 DAC 2 Analog Output 10 VDC, 5 mA
35 (Zero Speed) N. C. Contact 110 VAC, 5A
14 DAC 3 Bi-polar, 10 bit + sign
36 N. O. Contact 5VDC, 5A
15 Digital Output ST 1
37 Form C Status Relay Relay Common 250VAC, 2,2A
16 ST 2
38 (Drive Ready) N. C. Contact 110 VAC, 5A
17 ST 3 Digital Output +24 VDC, 100 mA
39 N. O. Contact 5VDC, 5A
18 ST 4 Open Collector
40 0V Common Circuit Common
19 ST 5
Programmable Analog Programmable Digital All Analog I/O is scalable

SPECIFICATION Hardware Fault Hardware malfunction on control board
Environment Memory Fault Stored parameter checksum fault
Ambient Operating 0 to 40C Derate current 1.5% per C External Trip User interlock fault (programmed)
Temperature to 55C Software Fault (A29) MD29 software fault
Cooling Method Convection and forced convection, model dependent
Humidity 95% non-condensing at 40C
Approvals & Listings
Storage Temperature -40 to 55C UL, cUL File #E58592 Vol. 5C Section 1
Altitude 0 to 4000m Derate 1% per 100m between CE Designed for marking
1000m and 4000m ISO 9001:2000 Certified Manufacturing Facility
Enclosure Chassis (IP00) ISO 14001 Certified Manufacturing Facility
AC Supply Requirements DIMENSIONS (mm)

Voltage 208 to 480 VAC -5%, +10%
525/575/660 VAC 10%
(Optional M350 and above)
Phase 3 D
W
Efficiency 98%
Control MO
DE

Feedback Methods Armature Voltage (resolution 0.83 volts)

PA
RA
MET
ER
DAT
A
Dr
ive
Alar Read
m y
DC Tachometer (resolution 0.1%)

Ze
ro
Ru spee
n fo d
PA Ru rw
n re ard
RA Br ve
MET idg rse
ER Br e 1
idg
IND At e 2
Encoder (resolution .01%)

EX sp
Cu eed
rre
nt
lim
it
RE
SE
T
Field Control Current regulated 8 Amps max

(M210/M210R and smaller) H
Voltage regulated .675 or .9 X Line-to-line
voltage (M350/M350R and larger)
Analog Input Resolution 12 bit (Qty 1), 10 bit (Qty 4)
Serial Communications 4-wire RS422 or RS485, optically-isolated
Protocol is ANSI x 3.28-2.5-A4
Baud rate is 4800 or 9600
Protection
AC Line 180 VAC
Undervoltage Trip
MOV Voltage Input transient suppression Order Size* (mm) Approx.
Transient Protection Code H W D Weight (kg)
Instantaneous 300% armature current M25, M45, M75 370 250 150 10
Overcurrent Trip
Armature Open Circuit Armature circuit is open M25R, M45R, M75R 370 250 150 11
Drive Overload Trip Inverse time, 150% for 30 seconds M105 370 250 197 14
Phase Loss Trip Loss of input phase M105R 370 250 197 15
Overtemperature Trip Heatsink exceeds 100C
M155, M210, M155R, M210R 370 250 197 21
Motor Thermal Trip Motor over-temp switch or Thermistor
Feedback Loss Loss of motor feedback M350 405 450 280 22 Specification; Dimensions
Feedback Reversal Tachometer or Encoder wired backwards M350R 405 450 280 23
Field Loss No field current M420, M550 423 450 280 22
Mentor II
Field On Field current during auto-tune

M420R, M550R 423 450 280 23
Field Overcurrent Field current greater than field demand
Current Loop Loss Loss of 4-20 mA reference
M700, M825 423 450 280 27
External Power Supply Short circuit on +24 VDC user power supply M700R, M825R 423 450 280 30
Power Supply Internal power supply out of tolerance M900, M1200, M1850 1045 450 510 70
Serial Communications Mode 3 serial comms data loss Loss
M900R, M1200R, M1850R 1505 450 510 120
Processor 1 Main control processor fault Watchdog lap
* Approximate, not to be used for construction purposes.
Processor 2 Second control processor fault (MD29) For complete drawings consult product manual. or download from
Watchdog Trip www.controltechniques.com/download.htm

MENTOR II DRIVE CONFIGURATION

OPTIONS AND PROGRAMMING
Control Techniques offers an extensive selection of option Drive Configuration Tool (MentorSoft)
cards for use with our high performance Mentor II.The option MentorSoft is a complimentary Windows based drive
cards install easily, with no tools required. Our I/O, feedback, configuration tool designed to enable the complete control
memory, communication and application options enable you to and display of all parameters within Mentor II. Functions
upgrade the performance of your drive to meet the specific within MentorSoft allow data to be uploaded, viewed and
demands of your application. saved or retrieved from disk, modified and printed. It can be
Configuration of the Mentor II is simplified, using the keypad or used off-line in the office or on-line on the plant floor.
MentorSoft, our complimentary Windows based drive set-up MentorSoft communicates with the Mentor II via the
tool. With so much flexibility at your command, Control computers serial port to the drives RS485 port using a
Techniques gives you the options you need to set up Mentor II communications cable.
the way you want it. Some of its many capabilities include:
Options Commissioning screen displays wiring and control logic
Option Description Order Code Compare functions compares current drive configuration
Drive Configuration Drive Configuration Tool MentorSoft with previously stored versions
Programming
Universal Keypad Universal User screen customised by the user with up to
Operator Interface Keypad 15 key parameters
Operator Interface Units See section 12.3
Input/Output I/O Box CT I/O Box
Built-in reference manuals and search functions provide
Remote Network I/O Beckloff SSP7200-RerD extensive Help files for both the drive and the software.
Field Regulation FXM Field Regulation Units FXM5
PROFIBUS-DP MD-24
INTERBUS MD-1BS
MentorSoft IS SUPPLIED FREE WITH
Communication CTNet MD-29AN
THE DRIVE OR VISIT
DeviceNet MD-25
Modbus RTU MD-29
Application 32 bit Co-processor MD-29
Co-processor 32 bit Co-processor with CTNet MD-29AN
Application

Programming
Systems Programming Tool
Software
Solutions
Preconfigured Application Consult Drive
Software Programs Centre
Mentor II

OPERATOR INTERFACE INPUT/OUTPUT

Universal Keypad I/O Box
The Universal Keypad is an ideal The I/O Box expands the I/O capabilities of the Mentor II, and
maintenance tool for use with is connected to the drive through the MD29 application card
Commander SE and Mentor II). using an optically isolated RS485 serial link.
Five navigation keys and plain text Voltage 110 to 240 VAC 10%
parameter descriptions make the Frequency 48 to 62 Hz
CTKP easy to use for viewing and Phase 1
modifying drive data.The keypad
RS485 Interface Supports binary protocol at data rates
is designed for hand-held or up to 38.4kbaud for connection to a
panel mounting.The IP65 rating, single drive
screw-down terminals and stress relief for cable connections
Enclosure Chassis (IP00)
assure a rugged and robust design.
HMI Operator Interface Unit
HMI 200 VT155W
Quantity Type / Description Notes

10 VDC, 100k Ohms
1 Analog Input (12 bit)
or 4-20 mA, 100 Ohms
4 Analog Input (10 bit) 10 VDC, 100k Ohms
TIU500
3 Analog Output (10 bit) 10 VDC, 5 mA
8 Digital Input +24 VDC, 10k Ohms
The HMI operator interface units incorporate a back-lit LCD +24 VDC, 100 mA
display and easy-to-use navigation keys. Using the intuitive 8 Digital Output (200 mA total
WYSIWYG page editor, they can be programmed to display for all outputs)
a variety of menus, submenus, alarms, fault conditions and
Remote Network I/O
other critical information.The HMIs support a range of
capabilities including multiple font sizes, real time trends and The high-quality Beckhoff I/O system.
graphs, scheduling and background programs.They is available for CTNet systems, and
communicate via 2 or 4-wire RS485 and to simplify includes a SSP7200-Rev C bus Operator Interface; Input/Output
installation, some HMIs are rated IP54 and require no screw coupler and a large variety of
mounting holes. snap-on terminal blocks allowing
Mentor II
up to 256 digital inputs or outputs

and up to 100 analog inputs and
outputs per bus coupler. Up to 64
Beckhoff I/O systems can be attached to a CTNet network.
I/O points exist as CTNet parameters and can be easily read
or written. Cyclic data transfers are also supported for
efficient I/O sampling. Contact Control Techniques for details
on the wide range of available Beckhoff Remote I/O options.

FIELD REGULATION COMMUNICATIONS

The fieldbus interface cards provide high-speed
communications using the popular networks and protocol.
These networks allow large amounts of data to be
transferred quickly to and from network nodes.The RS485
channel is optically isolated (CTNet is transformer isolated)
for added protection.

Protocol Catalog Number Configuration
PROFIBUS-DP MD-24 Slave
The FXM5 field regulator is designed to control the field
INTERBUS MDIBS Slave
current of DC motors up to 20 amps. When used with the
CTNet* MD-29AN* Peer-to-peer
Mentor II variable speed DC drives, the field regulator is
controlled directly via the drive parameters.This allows full DeviceNet MD-25 Slave
customization of the field control for any application.The Modbus RTU* MD29* Slave
FXM5 can also be used as a stand-alone unit when retrofitting
* CTNet and Modbus RTU cards contain full co-processor ability. Refer to
existing applications.
Application Co-processor (MD29 and MD29AN) for more information.
The field regulators is a single phase, controlled thyristor
Network Communication
rectifier bridge with a control logic PC board.The bridge can
be configured by jumpers to operate in half (single quadrant)
or full (two quadrant) control mode.
The FXM5 may be independently controlled by an external
reference, or set for automatic field weakening (constant
horsepower) or constant field current. Field economy control
via contact or logic input and a field loss relay for protection
MO
DE
are provided for stand-alone operation.The unit also has a bar

PA
RA
ME

TE Dr
RD ive
AT Alar Read
A
graph display (10% increments of the selected range) for field

m y
Ze
ro
Ru spee
n fo d
PA Ru rw
n re ard
RA Br ve
ME idge rse
TE Br
idge 1
R IN
DE At 2
sp
X Cu eed
rre
current magnitude.
nt
lim
it
RE
SE
T
Order Current Frequency Input Voltage Output

Code (A) (Hz) (VAC) Voltage* (VDC)
FXM5 10/20A 50 220/380/440 198/342/396
60 240/480 216/432
* Maximum output voltage equals 90% of input rms line voltage.
Field current is the controlled variable.
Field Regulation; Communications
Mentor II
MD-29

APPLICATION CO-PROCESSOR System Programming Toolkit

The MD29 and application cards contain a high-speed Overview is the professional drive programming
microprocessor which provides a low-cost facility for a system toolkit for OEMs and End Users who wish to maximise the
designer to write application specific programs without performance of their machines and factory.This IEC61131-3
needing a PLC or other stand-alone controller.The add-on programming software offers greatly enhanced functionality
cards fit into a 40-pin header within the Mentor II drive. It is allowing you to connect drives, operator interfaces and I/O to
programmed (via the RS232 port) using our Control a network and configure how they exchange data.
Techniques SyPT2 (System Programming Toolkit) that allow you to program in your choice of three different
complies with IEC61131-3 Ladder / Function Block or DPL languages, with a real-time multi-tasking environment. It
(Drive Programming Language). In addition to the application contains a suite of monitoring and diagnostics features that help
co-processor, the MD29AN CTNet card supports peer-to- you to reduce the time it takes to develop your programmes
peer cyclic and broadcast messaging at rates up to 5Mbaud.
and allows you to get your machine into service faster.
The application cards use dual port RAM to provide intimate
may also be
high-speed bi-directional access.They can read and modify any
used to program
parameter within the drive, enabling customised real-time
Unidrive 6 with
calculations under a multi-tasking run-time environment.The
SM-Applications and
high performance microprocessor provides a powerful base
SM-Applications
for a designer to accomplish complex algorithms for
Lite Option.
demanding time-critical process control.
The optically isolated RS485 channel serves as a
communication port for our CTIU operator interface units. It
is fully configurable, supporting multiple communication modes Industrial Network allows you to configure a
including an ANSI 2 or 4-wire protocol at data rates up to single drive or a complete drive system connected to a
38.4kbaud. A Modbus protocol with RTU and ASCII slave network. CTNet is an industrial network designed to be
modes is also available. deterministic, robust and tolerant to noise and interference.
32-bit co-processor MD-29 An OPC server is available free of charge from your local
32-bit co-processor with CTNet MD29AN Control Techniques Drive Centre or Distributor.
Programming allows you to program in your
Typical Pre-configured Application Programs*
choice of three programming languages; these are Function
S-ramp accel / decel profiling block diagram, Ladder diagram and DPL (Drive Programming
Digital lock with adjustable ratio control Language).They offer a multi-tasking environment where the
Spindle orientation tasks are scheduled according to the required speed of
Constant tension, centre wind execution or triggered by events.
PID control for load cell tension or dancer position Function Block incorporates an IEC61131-3
Power calculations function block diagram editor, and comes with a library of
Dual Mode Winder Solutions
functions. These embed years of application experience to
* Contact your local Control Techniques Drive Centre/Distributor for detailed Application Co-processor; Modules;
make your software easier to write and easy to re-use. Application Programming Software
information on these packages as they are continually evolving. Exact package
specifications may vary from one country to another. Additionally you can create a library of your own function
Mentor II
SyPTPro.com. All
function blocks
may be used
in any of the
three languages.
MD-29AN

Ladder incorporates an IEC 61131-3 Ladder SOLUTIONS SOFTWARE

language editor.This form of programming will be familiar
OVERVIEW
to all PLC programmers and is the ideal format for sequencing
and I/O control. Control Techniques has produced pre-configured application
programs or Solutions, that address standard application
needs across several industries.
In addition, the Control Techniques Drive and Application
Centres are staffed with professionals who can assist you in
the development of high-performance custom applications.
Typical applications written by our industrial control
specialists include:
Traverse Winding
Speed Base Winders
Rotary Knife
Sectional Web Control
DPL Drive Programming Language is a structured text Hoist Control
Cut-to-Length Feeder
Application support from Control Techniques can be easily
NEXT loops. DPL is ideal for initialising, configuration and co-ordinated with delivery and installation of your hardware to
general programming. ensure that the line or application is productive in the shortest
Diagnostics and debugging Good diagnostics are amount of time possible.This program is an ideal method for
essential and ensure: fast-track learning. Engineers and machine operators can learn
Software development time is minimised the features and capabilities of the programming environment,
Commissioning time is reduced so they can support the application once it is up and running.
Down time is cut dramatically

contains a suite of diagnostic tools that help you to
find problems with the system or software quickly and easily.
When connected on-line, shows you live real-time
views of variables in Function Block Diagrams, Ladder
Diagrams and DPL, and allows you to execute program
stepping and breakpoints.
System Watch Window Allows you to monitor real-time
variables and parameters form a single drive or multiple drives.
Mentor II

Tension Tension
Sensor Sensor
Dual Mode Winder

The Dual Mode Winder Application Software is the result of
over 30 years of programming successful winder applications MODE MODE

MODE

PARAME PARAME

TER Drive TER Drive

DATA AlarmReady
DATA AlarmReady

Zero Zero PARAME MODE
Run speed
Run speed

forward forward TER
PARAME Run PARAME Run Drive
reverse
Bridge
reverse
Bridge DATA AlarmReady

TER Bridge 1 TER Bridge 1 Zero
INDEX INDEX Run speed

At 2 At 2
speed speed PARAME
Current Current forward
PARAME Run
reverse

limit limit Bridge TER Drive
TER Bridge 1 DATA AlarmReady
INDEX At 2 Zero
speed
Current Run speed
forward
RESET RESET limit PARAME Run
reverse
Bridge
TER Bridge 1
INDEX At 2
speed
Current
RESET
limit
RESET

CTNet
critical requirement in demanding applications such as high
speed dual-turret, flying splice machines.The Dual Mode Standard Features
Winder Application Software supports over 95% of industrial Torque Control Mode, including
winding applications. Constant Tension Centre Wind
The addition of a co-processor option module loaded with Speed Control Mode
the Dual Mode Winder software provides a low cost flexible
solution for a wide variety of winding applications.
Dancer Feedback
Paper and Film Unwind and Rewinders
Load Cell Feedback
Dancer Air Loading Output
Single or multi spindle Line Speed Input
Low tension high speed unwinds Diameter Calculator
Metal Coilers and Uncoilers
Inertia Compensation
Speed based control for thin strip with precise Taper Tension - linear or hyperbolic
tension control
Torque based control for heavy strip without Unwind/Rewind Selection
tension feedback Web Break detection
Speed/Torque control switching on the fly Stall Tension adjustment
Wire, Cable and Textile Spoolers Multiple Preset Diameters
Torque or speed controlled spoolers Jog
Torque Memory
Solutions Software Order Code All data entry done using Engineering Units
Accessories
Modbus, DeviceNet, PROFIBUS DP, INTERBUS and CTNet
Expanded I/O option
Solutions Software
CTNet Modular I/O

Mentor II
Range of HMIs
Dynamic Braking

MENTOR DRIVES IN 12/24-PULSE Parallel 12-Pulse Configuration

CONFIGURATION A parallel 12-pulse drive, as its name implies, consists of two
Thyristor DC drives for very large outputs can be obtained by stacks with outputs connected in parallel feeding a single
using Mentor modules in a 12-pulse configuration.This results armature. Since the stacks will have different instantaneous
in a drive which can have up to twice the power rating of a output voltages it is necessary to insert an inter bridge reactor
single module. Other advantages are that large 5th and 7th (IBT) between the stacks in order to ensure current sharing.The
harmonic currents drawn by individual 6-pulse drives are motor armature is fed from a centre tap of this reactor. Parallel
absent from a 12-pulse configuration and motor current is a 12-pulse drives can develop nominally the same output voltage
lot smoother. In all 12-pulse systems a transformer with two as a 6-pulse drive.The maximum armature voltage possible is
secondary windings is necessary in order to develop two 550V for the standard voltage module and 760V for high
thyristor stack supplies which are equal in voltage but mutually voltage modules.The transformer secondary voltages feeding
separated by 30 degrees in phase.This is normally achieved by the stacks must be at least 0.83 times the armature voltage at
connecting one secondary in star and the other in delta.The maximum load conditions. Currents upto 3700A continuous
primary will normally have a delta connection and will be and 5550A peak may be obtained with parallel 12-pulse drives.
wound for connection to high voltage distribution system. A typical example of a parallel 12-pulse drive for a 1000 kW
motor is shown by below.The stack modules are both furnished
with a completely standard control electronics assembly and
configured in a master/slave load sharing arrangement. It is
necessary for the currents to be balanced well enough to avoid
saturation of the IBT which is normally designed to tolerate no
more than 5% imbalance. Good balance is essential for
Parallel 12 Pulse cancellation of the 5th and 7th harmonics.
Primary 11000V, 1238kVA, 65A

Aux Sec 1 440V Main Sec 1 440V Aux Sec 2 440V Main Sec 2 440V
20A DY11 850A DY11 20A DD0 850A DD0
E1 E2 E3 L1 L2 L3 zero current F10 E1 E2 E3 L1 L2 L3

zero current ST5
Drives in 12/24 Pulse Configuration
0V
loadsharing
F1 F2 A1 A2 A1 A2
Mentor II
IBR 5.2mH Im=200A Irms=1080A
Field 20A 330R

Armature Earth
500V, 2000A leakage
detector
330R

Series 12-Pulse Configuration

This configuration consists essentially of two 6-pulse modules
connected in series.The armature current flows through both
stacks and the total armature voltage is the series total of the
two. No inter bridge reactors are necessary in this arrangement.
The maximum armature voltage possible is 1100V using the
220V/480V stack. Use of the 660V stack enable higher voltages
to be obtained but are not expected to be required. Output
currents up to 1850A mean (2775A peak) may be obtained
using standard Mentor modules.
The implementation of a similar 1000 kW drive system as a
series 12-pulse arrangement is shown below. Control of the
thyristor stacks requires only one set of control electronics for
both stacks.The main control card, MDA1, must be ordered
with the additional connector fitted to provide delayed firing
pulses for the slave stack. Bridge interlocking is provided by the
same zero current detection as on a 6-pulse stack. Series 12
pulse mode is phase sensitive.The phase rotation must be in the
sequence L1, L2, L3 (parameter 10.11 = 1).
Series 12 Pulse System
Primary 11000V, 1205kVA

20A DY11 1050A DY11 20A DD0 1050A DD0
E1 E2 E3 L1 L2 L3 34 way ribbon cable E1 E2 E3 L1 L2 L3

M1850R M1850R Drives in 12/24 Pulse Configuration
Master Slave
F1 F2 A1 A2 A1 A2
Mentor II
560R
Armature
800V, 1254A Earth
560R leakage
detector

Tandem Drive Configuration The tandem drive concept can be extended to any number of
The equivalent of 12-pulse operation can be obtained by motors and drives. For example, a 18-pulse system can be
mechanically coupling two separate DC motors of equal rating derived with 3 motors and a 24-pulse system may be derived
and supplying the armatures from two separate stacks.The with 4 motors. Harmonic cancellation is dependent on correctly
star/delta transformer must still be used.The two drive phased transformer secondary windings.
modules function as independent units in master/slave load As with the parallel 12-pulse system, the phase sequence and
sharing mode. transformer winding disposition is of no consequence with a
The advantage of this configuration is that no inter bridge tandem drive.
reactor is necessary. Apart from the cost saving this results in
less inductance in the armature loop thus permitting faster rates
of change of current to occur which may allow a faster dynamic
response to be obtained.
A typical implementation of a 1000 kW drive using two 500
kW motors is shown below. Both modules are completely
standard and independent units.
Example of a Tandem Drive System
11kV, 50Hz
Primary 11kV, 65A

20A DY11 1050A DY11 20A DD0 1050A DD0
E1 E2 E3 L1 L2 L3 E1 E2 E3 L1 L2 L3
Mentor M1200R Mentor M1200R
Master Slave
F1 F2 A1 A2 A2 A1 F2 F1
330R 330R
330R 330R
Field Earth Field

15A leakage 15A
detectors
Mentor II
Armature 500V, 1000A Armature 500V, 1000A

Typical Harmonic Current Levels

The table below clearly shows that the 5th and 7th harmonics
are practically eliminated by using the 12 pulse arrangement.
6-Pulse System 12-Pulse System

Order of Harmonic
Percentage of fundamental Percentage of fundamental
5 27 0.3
7 6.5 0.75
11 8.9 12.2
13 4.5 2.6
17 5.3 <1
19 3.3 <1
23 3.7 4.5
25 2.6 2.2
29 2.9 <1
31 2.2 <1
35 2.3 3.1
37 1.8 2
41 1.9 <1
43 1.6 <1
47 1.6 2.2
49 1.5 1.6

Mentor II

24 Pulse System
It is possible to extend the 12 pulse function to provide a 24
pulse system by supplying two parallel 12 pulse systems from a
transformer with four phase shifted windings as shown below.
The earthing arrangement explained for the 12 pulse system
should be used.
24 Pulse System Power Circuit Wiring
+7.5 -7.5
degrees degrees
E1 E2 E3 L1 L2 L3 E1 E2 E3 L1 L2 L3 E1 E2 E3 L1 L2 L3 E1 E2 E3 L1 L2 L3
Mentor Drive 1 Mentor Drive 2 Mentor Drive 3 Mentor Drive 4
A2 A1 A1 A2 A2 A1 A1 A2
If the drives are 4 quadrant then some extra logic is needed

to control the bridge interlocking.
Please consult your local Drive Centre before designing

these systems.
Mentor II

Small DC Drives RATINGS

Order Input Typical Typical
PUMA SM, CHEETAH SM, LYNX SM & 4Q2 Code Voltage Motor Motor
+/- 10% (V) (kW) (A)
These low cost DC motor speed controllers are designed for
110 0.18 3
the efficient, cost effective, speed control of conventional shunt Puma SM
wound and permanent magnet dc motors from 0.18 to 7.5kW. 220/240 0.37 3
Cheetah SM 110 0.75 11
KEY FEATURES
Cheetah SM (Enclosed) 220/240 1.5 11
Surface mount technology throughout the range 220/240 1.1 8
All models dual input rated (see table) Lynx SM 8
400 2.2 8
Operates in speed and torque control modes 220/240 2 16
Armature/tacho feedback scaling Lynx SM 16
400 4 16
Current feedback scaling 220/240 3.75 30
Separately adjustable speed ramp Lynx SM 30
400 7.5 12
Accepts 0-10V and 4-20mA rugged enclosure 220/240 1.5 12
Cheetah SM is available in an optional IP40 rugged enclosure 4Q2/12
400 2.75 12
The 4Q2 model provides full quadrant control of speed 220/240 4.5 30
and torque 4Q2/30
400 7.5 30
Cheetah SM Enclosed
Cheetah SM Module
60 mm
195 mm
150
Dimensions of Puma SM Dimensions of mm
Cheetah SM
100 mm 160 mm
255 mm 188 mm
61 mm 60 mm
Puma, Cheetah, Lynx & 4Q2

Small DC Drives
92 mm 92 mm
Dimensions of Lynx
SM 8, 16 and 30 Dimensions of
150 mm 4Q2/12 and 4Q2/30 176 mm
225 mm 225 mm
1: 200
00
0
ISO 9
CSA
AL
AP
P ROV APPROVED

Maestro
OVERVIEW
Maestro
The Maestro range of dc brushed servo drives are

Overview
manufactured to the latest surface mount specifications

ensuring quality, reliability and above all a cost effective
solution to low power dc servo applications. Performance
matched to a range of permanent magnet dc servo
motors Matador.The Maestro delivers powerful, accurate
motor control in diverse applications such as robotics,
transfer lines, positioning, indexing.
The 20kHz switching frequency ensures silent operation and
the Maestro/Matador combination is characterised by the
SPECIFICATION
accuracy of its speed and control loops.The Maestro range
comes in three physical sizes, Mini, Midi and Maxi.
Mini Maestro
Power
Power Supply From battery 24 to 72V
FEATURE PERFORMANCE
From rectifier with ripple 2Vpp min 20V max 80V
Input voltages from 24V to 150V Max voltage at motor Rectified supply voltage minus 3V
Performance matched to range of Matador DC PWM working frequency

Min motor inductance
20kHz
1mH
brushed servo motors
without choke
High switching frequency for near silent operation General
Switch selectable tacho or armature feedback Analog speed reference 10V (33kOhm input impedance)

Independently adjustable accel/decel ramps Analog current reference
Error amplifier
10V (22Ohm input impedance)
25V/ 0C
Features plug-in customisation module for fine tuning and temperature drift
accurate set-up Min tacho signal at 5V
Mini Maestro comes in standard eurocard size and max speed

Ambient working temp -10 to +45 0C
requires a dc supply
Adjustments Full scale speed, Ramp gradient, Current limit,
Both the larger units+have integral braking resistors Dynamic gain, Derivative action, Zero offset
Speed reference via /- 10V signal Diagnostics
2
Red LED indicator when l t is active, Green LED
when indicator is drive healthy, Control output
Adjustments
for drive status, Analog output for motor
Speed, current limit, dynamic gain, derivative action, current monitoring, Analog output for requested
speed offset compensation and ramps current monitoring
Options
Link Selectable Speed control with armature feedback
Speed control with tachogeneraor feedback
Protection Under-voltage 20VDC, Over-voltage 80VDC,
Over temperature 100 0C, Output short circuit

Mini Maestro Options SPECIFICATION

Midi and Maxi Maestro
Specification, Dimensions
a e Power
Dimensions b
of 3MB Power supply From mains distribution through a llne
Maestro
rack-mounting transformer with a 3 phase 105Vrms output
installation kit (150Vrms Output for Maxi Maestro)
c Max voltage at motor Rectified supply voltage minus 8V
PWM working frequency 20kHz
Internal braking unit Resistance 10 Ohm, 200 Watts (External 8 Ohm,
600 Watts for Maxi Maestro)
Min motor inductance 2mH (3mH for Maxi Maestro)
d
without choke
General
Analog reference input 10V (10kOhm input impedance)
Error amplifier 1.3V/0C
temperature drift
Min tacho signal 5V
at max speed
Ambient working temp -10 to +45 0C
Dimensions of 2MH Dimensions of 3MB Adjustments Full scale speed, Ramp gradient, Current limit,
panel-mounting rack-mounting
Dynamic gain, Derivative action, Ref speed offset
installation kit installation kit
compensation
Dimension mm mm 2
Diagnostics Red LED indicator when l t is active, Green LED
a 66 39.5
when indicator is drive healthy, Control output
b 15 25.4
for drive status, Analog output for motor current
c 8 122.5
monitoring, Analog output for requested current
d 132 130
e 120 20 monitoring
f 195 Options
Switch selectable Speed control with armature feedback
Speed control with tachogenerator feedback
Dimensions of 2MH panel-mounting installation kit Accel/decel ramp enable
a Tacho loss protection enable
b b f Protection Under-voltage 80VDC (100VDC for Maxi
c
Maestro), Over-voltage 180VDC (275VDC for
Maxi Maestro), Over-temperature 95 0C,
Output short circuit,Tachogenerator breakdown
e
d
A Mini Maestro motherboard dimensions

Dimension mm
A 100
B 160
B C D C 8
D 41

Midi Maestro dimensions (mm) RATINGS
20
Frame Order Nominal Peak Input
Dimensions, Ratings
Size Code Output Current Voltage

(A) 2 s (A)
Maestro
DCD60*3/6 3 6 24-72VDC
Mini
DCD60*7/14 7 14 24-72VDC
Maestro
DCD60*10/20 10 20 24-72VDC
233
215
195
DCD60*14/28 14 28 24-72VDC
Midi DCD140*8/16 8 16 105VAC
Maestro
Maestro DCD140*14/28 14 28 105VAC

Maxi
DCD200*25/50 25 50 150VAC
Maestro
50 220
62
20
65
Maxi Maestro dimensions (mm)

MaxiMaestro
MaxiMaestro
1400 1: 200
SO 00
0
1
ISO 9
I
AL
PP AP
A
R OVA P R OV

Matador FEATURES Long life brushes

High dynamic Low inertia
DC Servo Motors performance
Overview; Features
Options Include:
3 to 25 A
Matador
Smooth low speed
running
Failsafe brake
Encoder
OVERVIEW Tachometers fitted as Special flanges
standard
he Matador range of motors was specifically designed to
operate alongside the Maestro drives.
Motor Chokes
Brake Specification
Matador DC servomotors are compact with good dynamic
Type: Fail safe (for parking or emergency stop)
performance and excellent smooth low speed
performance.The high commutation power allows the Supply voltage 24 Vdc
Matador to meet acceleration requirements without limiting Holding Torque Motor Length Increase
the current at upper torque and speed values. Motor
(Nm) (mm)
Optimum performance from a servo system is achieved by DCM 2 0.5 44
careful matching of motor and drive. DCM 3 3 44
Peak currents are adjustable from 50% to 100% providing DCM 6 12 44
excellent flexibility in varying applications. DCM 9 16 44
Motor Choke (optional) Tachogenerator specification

Frame Model Choke Order Unit DCM
size Choke Rating Code
DCD60x3/6 voltage constant V/rpm 0.01
L11 0.7mH, 4371-1108
DCD60x7/14 8A
peak to peak ripple % 1.6
MiniMaestro rms ripple % 0.7
DCD60x10/20 1mH,
L12 4371-1214 linearity error % 0.1
DCD60x14/28 14A
DCD140*8/16 L13 2mH 4371-1314 voltage tolerance % 5.0
MidiMaestro voltage variation % per oC -0.02
DCD140*14/28 L13 2mH 4371-1314
Maxi Maestro DCD200*25/50 L14 3mH 4371-1403 nr. of comm. segments 25
nr. of poles 4
Type Definition
a b
L11 DCM
to
L14
For special
versions only
2 1
L12 c 1= no tacho
3 4 5
2= tacho fitted
A= without brake
B= with brake
Motor voltage involts x 10
Motor speed in rpm x100

Dimension L11 L12 L13 L14
mm mm mm mm Motor length code A, B, C, D. F
a 56 75 102 127
Motor frame code 2, 3, 6, 9
b 56 75 83 105
c 64 100 105 132

DIMENSIONS (mm)
Dimensions; Selection Table
Matador
TYPE 2B 2C 3B 3D 3F 6C 6D 6F 9B 9C
A 20 25 23 30 30 40 40 40 50 50
L 136.5 184 212 267 322 338 338 410 350 472
D(j6) 7 9 11 14 14 19 19 19 24 24
L with brake and tacho 222.5 270 297 352 407 424 424 496 438 560
L with brake 180.5 228 256 311 366 382 382 454 394 516
L with tacho 178.5 226 253 308 363 380 380 452 394 516
MAESTRO AND MATADOR SELECTION TABLE

Rated Rated Max. Rotor Volt Rotor Choke
Maestro Matador Motors Stall Stall Peak Inductive Constant Inertia Reference
Drive Preferred Types Torque Current Current (mH) 10-3
2
(Nm) (A) (A) (V/krpm) Kgm
DCD 60* 7/14 DCM 2B 30/03 0.32 4.6 23 1.34 7.3 0.0324 N/A
DCD 60* 7/14 DCM 2C 30/03 0.47 4.6 23 1.65 10.7 0.0607 N/A
DCD 60* 7/14 DCM 3B 35/06 0.93 7 35 1.11 13.8 0.6 N/A
DCD 60* 10/20 DCM 3D 30/06 1.6 10 50 1.1 16.5 0.8 N/A
DCD 60* 14/28 DCM 3F 30/06 2 12.5 62.5 3.04 16.5 1 L12
DCD 140* 8/16 DCM 6C 30/14 3.5 9 45 3.4 40 1.8 N/A
DCD 140* 14/28 DCM 6D 30/14 5.5 14 70 1.65 40 2.8 L13
DCD 200* 25/50 DCM 6F 30/14 7.5 21 105 0.85 37.5 5.1 L13
DCD 200* 25/50 DCM 9B 30/20 11 20 90 2.3 57 10 N/A
DCD 200* 25/20 DCM 9C 30/20 15 27.5 124 1.39 57 14 L14
Consult Drive Centre/Distributor for complete range of Matador motors

SPEED TORQUE CURVES

DCM 2B 30/03 DCM 2C 30/03 DCM 3B 35/06 DCM 3D 30/06
Speed Torque Curves

Mini Maestro DCD 60* 7/14 Mini Maestro DCD 60* 7/14 Mini Maestro DCD 60* 7/14 Mini Maestro DCD 60* 10/20
Matador
1.0 1.5 2.0 4.0
0.8 1.2
1.5 3.0
Torque Nm
Torque Nm
Torque Nm
Torque Nm
0.6 0.9
1.0 2.0
0.4 0.6
0.5 1.0
0.2 0.3
0 0 0 0
0 1000 2000 3000 0 1000 2000 3000 0 1000 2000 3000 0 1000 2000 3000
Speed (rpm) Speed (rpm) Speed (rpm) Speed (rpm)
DCM 3F 30/06 DCM 6C 30/14 DCM 6D 30/14 DCM 6F 30/14

Mini Maestro DCD 60* 12/28 Maestro DCD 140* 8/16 Maestro DCD 140* 14/28 Maxi Maestro DCD 200* 25/50
5 6.0 12.0 20.0
4
4.5 9.0 15.0
Torque Nm
Torque Nm
Torque Nm
Torque Nm
3
3.0 6.0 10.0
2
1.5 3.0 5.0

1
0 0 0 0
0 1000 2000 3000 0 1000 2000 3000 0 1000 2000 3000 0 1000 2000 3000
DCM 9B 30/20 DCM 9C 30/20

Maxi Maestro 200* 25/50 Maxi Maestro 200* 25/50
25.0 30.0
20.0 24.0
Torque Nm
Torque Nm
15.0 18.0
10.0 12.0
5.0 6.0
0 0
0 1000 2000 3000 0 1000 2000 3000
Speed (rpm) Speed (rpm)

Chapter 6 4/3/05 9:19 am Page 98
Unidrive 6 - the Servo Solutions Platform

OVERVIEW
Operator Interface
CTOPCserver
CT HMI LCD Keypad LED Keypad
Operator
Interface
The full graphic
CTIU200
CTSoft
CT
External PLC/Motion Control
Unidrive 6 Servo
AC Servo Motors
Overview
Input/Output
Motion
Controller
Options Standard
PLC
Remote SM-I/O SM-I/O SM-I/O SM- SM-I/O 5 Analogue I/O
I/O Plus Timer Lite PELV 120V 7 Digital I/O
1 Secure Disable
PC
Filters
Standard Optional
Spindle Motors Unimotor UM/SLM/EZ Linear Motors
Key
= External to Unidrive 6
= Internal to Unidrive 6

Chapter 6 4/3/05 9:19 am Page 99
SM-Applications Lite OR SM-Applications SM-EZMotion
Lite OR
SyPTLite (IEC61131-3) Programming Platform -
Power ToolsPro
Unidrive 6 Servo
Motion Made Easy
Indexing
Overview
Gearing
Feedback PLC Functionality AND Motion Functionality Profiles
Features Features
Function Block Programming Embedded Position Loop
Ladder Logic Sequencing Function Block Programming
Standard Ladder Logic Sequencing
SinCos Options
Quadrature
Frequency/Direction
Clockwise/
Counter clockwise SM-Universal Encoder Plus SM-Encoder Plus SM-Resolver
Accepts or replicates all Quadrature

standard feedback types
Communications
Standard Options
CAN Interface Ethernet

Modbus RTU

Chapter 6 4/3/05 9:19 am Page 100
Unidrive 6 Servo SERVO SOLUTIONS PLATFORM
OVERVIEW
The Unidrive 6 is The Benchmark for AC servo
controls in the automation industry. It is a truly scalable
Solutions Platform with the flexibility to be personalised
to customers requirements, and lower total cost while
maximising productivity.
The Unidrive 6 Solutions Platform incorporates many cost
saving and performance improvement features based on input
from End Users and OEMs.This includes Secure Disable,
Fieldbus capability, on-board EMC filter, Universal feedback
device support, and the facility for up to three Solution
Unidrive 6 Servo
Modules to tailor the drive to specific application needs.The

dynamic servo performance makes the Unidrive 6 the ideal Typical Servo Applications
Overview
Solutions Platform.
Semiconductor Auger Filler Analog

Check Weight
Universal Digital AC Drive Wet Bath Unidrive 6
Unidrive 6
Unimotor
4.3 to 80A, 3 phase, 200-240 VAC Mo
tor CTU Operator
Interface
2.1 to 210A, 3 phase, 380-480 VAC Motor
4.1 to 125A, 3 phase, 575 VAC Sensor
19 to 125A, 3 phase 690VAC Dr

yer +/- 10V
Secure Disable for contactor elimination to Unimotor Analog
EN954-1 cat 3
Parameter and application

program cloning and back up card Phase Flying Shear
Synchronisation
Universal feedback interface with Unimotor
Unidrive 6 PLC with
DeviceNet
Master Card
Unidrive 6
CTU
Operator
12 selectable modes Follower
SCSLD-X
Encoder
Interface
Axis
High Resolution Analog Input Follower

Unimotor
(16 bit plus sign) Sensor Ma

ste
rA
xis Unimotor
RS485 Interface for PC connection Master

Sensor
Three zero-space universal option slots

*Note: Additional components are necessary to produce a regen drive package.
Rotary Knife Pick & Place

Unidrive 6
Unidrive 6
Wrapper PLC with
Feed (Top) Profibus
Master Card
MC224
Motor
Sensor
Motor
Cutter
Sealer
Master
Encoder
Unimotor
Wrapper
1: 200
00 Feed
0
(Bottom)
ISO 9
AL
AP
P ROV E171230

Chapter 6 4/3/05 9:20 am Page 101
FEATURE PERFORMANCE Secure Disable
Secure Disable
Electromechanical Unidrive 6
The Unidrive 6 Secure Disable function Solution Secure Disable Solution
3 ~ AC
meets the requirements of EN954-I :
K1. . . . . . . . . . . . . . . . . . . . . . . 3 ~ AC
category 3 for machine safety, and can + 24V + 24V
serve as a part of a category 4
Stop
application. Control Techniques Secure Stop .........
conventional
drive SD
Disable safety solution has been K1 Start
K1
Start ......
independently verified by the German

safety organization, BIA.This exclusive K1
K1
M M
feature of the Unidrive 6 saves money Order Code: 0175-0317
and space. Under many conditions, this standard feature
Old New
eliminates the need for safety contactors by utilising secure
Unidrive 6 Servo
circuitry to prevent the motor shaft from being driven by
Feature Performance
the drive.
Multiple Fieldbus Capability Multiple Fieldbus

The Unidrive 6 provides unrivaled fieldbus flexibility. In Modbus RTU port
option slots.This provides the capability to control and
networks simultaneously, and even provide a gateway between
networks. In the example shown, CTNet is used to provide
real-time co-ordination between two Unidrive 6 modules.
The DeviceNet and PROFIBUS connections allow data to be
passed to the controllers in a machine line.
Motion/PLC Functionality with Unidrive 6
In addition to the extensive drive configuration capabilities of
the Unidrive 6, scalable programming is available to solve
Scalable PLC
virtually any application requirements. Simple logic function Lite
Functionality SyPT T Lite
programming is achieved usingSyPTLitesoftware and the + e+ +
Lite
ions + SyP ns Lit tions
c t e tio lica
drives built in PLC. More complex systems can be solved by n it a p
Fu ns
L
plic M-Ap
gic atio -Ap
adding SM-Applications Lite (withSyPTLiteorLite ) and al Lo lic M S
rn pp S
nte SM-A
SM-Applications ( only) option modules. rdI
PLC Processing (Power)
nda
Sta

Unidrive 6 Configuration

Chapter 6 4/3/05 9:20 am Page 102
Unidrive 6 Servo
FEATURE PERFORMANCE
Low Voltage DC operation Standard Features of the Unidrive 6
Ideally suited for elevator rescue and machine tool set up.
32-bit application co-processor module (up to a maximum
24V DC Auxiliary Power Supply Input of 3 modules)
Provides an additional means of maintaining control,
fieldbus and position loop on mains loss.
Universal Encoder feedback
Comprehensive Autotune
Application functions for Torque control, Brake control, and
Axis-limit control
Inertia measurement and static autotune reduce startup time.
Universal Feedback Interface
Built-in shaft orientation mode
Supports 12 different feedback configurations, Digital lock with adjustable ratio (frequency slaving)
Unidrive 6 Servo
Feature Performance
including several absolute encoders.

No need for additional components.
Programmable boolean logic (AND, NAND, OR, NOR)
gates with delay outputs
16-bit, 250 sec (sample time) interface for high
Programmable threshold comparators
performance applications. Built-in PID controller
Extensive Fieldbus Connectivity S-ramp accel / decel profiling
ModbusRTU (Standard). PROFIBUS-DP (12Mbit), DeviceNet, Built-in Motorized potentiometer (MOP)
CANopen, INTERBUS, Ethernet, SERCOS and CTNet via
zero-space SM Application modules. 8 Preset speeds and independent accel / decel rates
Up to three fieldbuses can connect to a single drive, Run time chronometers
eliminating the need for expensive gateways.
Configurable analog and digital I/O
Three Universal Option Slots
Fieldbus, control and application SM modules fit in any of
Selectable stopping modes including Coast, Ramp,
and DC injection
the three option slots beneath the drive cover.
Dynamic braking capability
Conforms to EN954-1 Category 3 for machine safety with Removable control terminals common to all sizes
system cost reduction. Intelligent Thermal Management (ITM) technology with
for Simple Setup, Cloning and Back-up switching frequencies up to 16 kHz
Easy-to-use card stores drive configuration for simple startup Regeneration option see Unidrive 6 section 3.1
and parameter cloning. Supplied free with Unidrive 6. for details
Keypad Options
Choose no keypad, high visibility LED keypad or multi-
language LCD keypad based on the system design and
operating environment.
Drive Mounted Brake Resistor
Unidrive 6 sizes 1 and 2 feature a drive mounted brake
resistor option to reduce panel space requirements.

Chapter 6 4/3/05 9:20 am Page 103
RATINGS RATINGS Cont.

Unidrive 6 Continuous
Output
Peak Output
Current
575 VAC +/- 10% 3 Phase
Servo Order Code Frame IH(A) IPK(A)
Current SP3501 4.1 7.2
200 / 240 VAC +/- 10% 3 Phase SP3502 5.4 9.5
Order Code Frame IH(A) IPK(A) SP3503 6.1 10.7
SP1201 4.3 7.5 SP3504 3 9.5 16.6
SP1202 5.8 10.2 SP3505 12 21.0
1
SP1203 7.5 13.1 SP3506 18 31.5
SP1204 10.6 18.6 SP3507 22 38.5
SP2201 12.6 22.1 SP4603 1 27 47
SP2202 2 17 29.8 SP4604 1 36 63
SP2203 25 43.8 4
SP4605 1 43 75
SP3201 31 54.3 SP4606 1 52 91
3
SP3202 42 73.5 SP5601 1 62 109
SP4201 56 98 5
SP5602 1 84 147
SP4202 4 68 119 SP6601 1 100 150
SP4203 80 140 6
SP6602 1 125 188
380 / 480 VAC +/- 10% 3 Phase
Unidrive 6 Servo
690 VAC +/- 10% 3 Phase
Order Code Frame IH(A) IPK(A) Order Code Frame IH(A) IPK(A)
SP1401 2.1 3.7 SP4601 19 32
SP1402 3 5.3 SP4602 22 39
Ratings
SP1403 1 4.2 7.4 SP4603 27 47
SP1404 5.8 10.2 4
SP4604 36 63
SP1405 7.6 13.3 SP4605 43 75
SP1406 9.5 16.6 SP4606 52 91
SP2401 13 22.8 SP5601 63 109
SP2402 16.5 28.9 SP5602 5 85 147
2
SP2403 25 40.2 SP6601 100 150
SP2404 29 45.5 6
SP6602 125 188
SP3401 32.0 56.0
SP3402 3 40.0 70.0
Suitable for demanding applications, current overload is set at 175% for 40
SP3403 46.0 80.5
seconds. Where motor rated current is less than the drive rated continuous
SP4401 60 105
current, higher overloads (200% or greater) are achieved.
SP4402 4 74 130
SP4403 96 168
SP5401 124 217 1The same model can be used on a 575V or a 690V supply, and has two different
5 output ratings. For example: At Normal Duty, SP4603 is suitable for a 22kW
SP5402 156 273
SP6401 180 270 output motor on a 575V supply, and a 30kW output motor on a 690V supply.
6
SP6402 210 315
For larger servo current ratings see Heavy Duty ratings in
Unidrive 6 section 3.1.
Unidrive Product Line SP 7 4 1 1

6 Solution Platform Size
1 to 9 complete inverter drive
Current
6 Standard Power Range Rating
Step
Configuration
Voltage Rating 0 Wall Mount
2 200V to 240V 1 Free Standing
4 380V to 480V 2 Wall Mount, no dynamic
5 500V to 575V brake control
6 500V to 690V 3 Free Standing, no dynamic
brake control
4 Regen Free Standing
(4 Quadrant)

Chapter 6 4/3/05 9:20 am Page 104
TERMINAL DIAGRAM
Power Connections
48V (Top of Drive) 0V Common 1 External
-DC +24 VDC External Input 2 24V Supply
Braking +DC 0V Common 3
Resistor BR EMC +10 DVC 4
Filter
Input 1 { + 5
Ground PE
(Differential) - 6
L1 L1 Input 2 7
L2 L2 Input 3 8
L3 L3
V
(Bottom Output 1 9
V of Drive) Output 2 10
M W 0V Common 11
1
2 0V Common 21
og 3 +24 VDC 22
4 0V Common 23
tal Input / Output 1 24
Unidrive 6 Servo
Encoder 5
6 Input / Output 2 25
E Universal
7 Encoder Input / Output 3 26
8 Connector Input 1 27
9 Input 2 28
10 Input 3 29
ed. 0V Common
NOTE 11 30
12 Secure Disable 31
Thermal protection required.
13
ns, refer to RJ45 connector for Programmable Analog
uide. or go to 14
RS485 Serial Comms. 41
com/download.html
For complete instructions, refer to 15 Status
Programmable Digital
the Unidrive SP User Guide. or go to Relay 42
www.controltechniques.com/download.html
Non-Programmable
1 0V Common 21 0V Common
2 +24 VDC External Input Back up Power 60W, 24 VDC 22 +24 VDC User Supply 200 mA max
Supply for Control 23 0V Common Common for External
3 0V Common Common for External Digital Inputs
Analog Devices 24 Digital I/O 1 Digital 0 to 24 VDC input,
4 +10 VDC Reference Supply 10 mA max (Zero Speed Output) Input / Output or 1 to 24 VDC,
100 mA max output
5 Analog Input 1 Differential 10 VDC
(Local Frequency / Analog Input, 100k Ohms 25 Digital I/O 2 (Reset Input) Digital 0 to 24 VDC input,
Speed Reference), 16 bit Non-inverting Input 100 mA max output Input / Output or 1 to 24 VDC,
6 Analog Input 1 Differential 10 VDC 26 Digital I/O 3 Digital 0 to 24 VDC input,
(Local Frequency / Analog Input, 100k Ohms (Run Forward Input) Input / Output or 1 to 24 VDC,
Speed Reference), 16 bit Inverting Input 100 mA max output
7 Analog Input 2 Single-ended 10 VDC, 100k Ohms 27 Digital Input Digital Input 0 to 24 VDC,
(Remote Frequency / Analog Input or 4-20 mA, (Run Reverse) 7.5k Ohms
Speed Reference), 10 bit 200 Ohms 28 Digital Input Digital Input 0 to 24 VDC,
8 Analog Input 3 Single-ended 10 VDC, 100k Ohms (Local / Remote) 7.5k Ohms
(Motor Thermistor), 10 bit Analog Input or 4-20 mA, 29 Digital Input Digital Input 0 to 24 VDC,
(Trip at 3.3kOhm) 200 Ohms (Jog) 7.5k Ohms
9 Analog Output 1 Single-ended Analog 10 VDC or 30 0V Common Common for External
(Frequency / Speed Monitor) Output, Bi-polar 0-20 / 4-20mA Digital Inputs
10 Analog Output 2 Single-ended Analog 10 VDC 31 Digital Input Digital Input 0 to 24 VDC,
(Motor Torque Monitor) Output, Bi-polar 0-20 / 4-20mA (Secure Disable) 1sec sample
11 0V Common Common for External 41 Status Relay (Drive Healthy) Normally Open 240 VAC, 2A resistive
Analog Signals 42 Status Relay(Drive Healthy) Normally Open 240 VAC, 2A resistive
Programmable Analog Programmable Digital All Analog I/O is scalable 1 Values in (parenthesis) designate default functions.
2 0-20, 20-0, and 20-4 mA are also available. See Unidrive 6 Manual.

Chapter 6 4/3/05 9:20 am Page 105
SPECIFICATION Approvals & Listings

Environment UL, cUL Listed E171230
Ambient Operating 0 to 40C IEC Meets IEC Vibration, Mechanical Shock and
Temperature 0 to 50C with derating Electromagnetic Immunity Standards
Cooling method Forced convection CE Designed for marking
Humidity 95% maximum non-condensing at 40C
Storage Temperature -40 to 50C
VDE Meets VDE Electromagnetic Emissions Standards
Altitude 0 to 3000m. Derate 1% per
ISO 9001: 2000 Certified Manufacturing Facility
100m between 1000m and 3000m.
ISO 14001 Certified Manufacturing Facility
Vibration Tested in accordance with IEC 68-2-34
Mechanical Shock In accordance with IEC 68-2-27
Enclosure IP 20 (NEMA1), IP 54 (NEMA12) through DIMENSIONS (mm)
panel mounting
Electromagnetic In compliance with IEC801 and EN50082-2, and
Immunity complies with EN61800-3 with built-in filter
Electromagnetic In compliance with EN50081-2 when the
Emissions recommended RFI filter is used and EMC 100mm 155mm
Unidrive 6 Servo
installation guidelines are followed
Weight: Weight:
AC Supply Requirements 5kg 7kg
5.8kg
Voltage 200 to 240 VAC 10%
(SP1405, 368mm 368mm
380 to 480 VAC 10%
500 to 575 VAC 10% SP1406)
500 to 690 VAC 10%
219mm 219mm
Phase 3
Phase Imbalance 2% negative phase sequence (equivalent to 3%
250mm
Tolerance voltage imbalance between phases) Weight: Weight: 310mm
Frequency 48 to 65 Hz 15kg 30kg
Power Factor
Control 368mm
Switching Frequency 3, 4, 6, 8, 12, 16 kHz
Output Speed 0 to 40,000 rpm (Closed loop) 510mm
260mm
Frequency Resolution 0.001 Hz
310mm
Analog Input Resolution 16 Bit + sign (Qty 1),10 Bit + sign (Qty 2) 298mm
Serial Communications 2 or 4-wire RS232 or RS485.
Protocol is ANSI x 3.28-2.5-A4, or Modbus RTU
Baud rate 300 to 115,200
310mm
Braking Dynamic braking transistor standard
Mains Dip Up to 1 second depending on inertia and
Ride Through decel time
Protection
DC Bus 175 / 350 / 435 VDC
Undervoltage Trip (approximately 124 / 247 / 307 VAC line voltage)
DC Bus 415 / 830 / 990 VDC 1131mm
Overvoltage Trip (approximately 293 / 587 / 700 VAC line voltage)
820mm
Drive Overload Trip Current overload value is exceeded.
Instantaneous 225% of drive rated current
Overcurrent Trip
Phase Loss Trip DC bus ripple threshold exceeded
Overtemperature Trips Drive heatsink, control board, and option
module(s) monitoring 298mm
Short Circuit Trip Protects against output phase to phase fault Weight: 298mm Weight:
Earth Fault Trip Protects against output phase to ground fault 75kg 55kg
Motor Thermal Trip Electronically protects the motor from overheating

due to loading conditions

Chapter 6 4/3/05 9:20 am Page 106
OPTIONS DRIVE CONFIGURATION AND

The Unidrive 6 provides application and system
PROGRAMMING
designers with an incredibly flexible drive platform, which is
easily modified by an extensive range of sophisticated SM option
modules that can be used singly or in combination for This is a standard feature that enables simple configuration of
economical and space saving solutions. SM option modules parameters in a variety of ways.The can:
install easily into any of the three option slots, with no tools
required.The I/O, feedback, memory, communication and
Clone a complete set of parameters for serial production
application modules enable the Unidrive 6 to provide an Save multiple complete sets of parameters
optimised solution regardless of the demands of the application.
Set up an application as parameter differences from default
A complete range of other accessories
are available to simplify system
Automatically save all user parameter changes for
maintenance purposes
intergration and meet system
design criteria. Load complete motor map parameters
Unidrive 6 Servo
Options At-A-Glance Read/write information from written

SM-Applications and SM-Applications Lite
Drive Configuration Cloning and Smart Card***
and Programming Programme Storage Card
Configuration Tool CTSoft***
Communications Cable CT Comms Cable
Operator Interface No Keypad As standard
LED Keypad SM-Keypad
Backlit LCD Keypad SM-Keypad Plus
Operator Interfaces See section 12.3
Power Accessories Internal Fitting Brake Resistor SM - Heatsink DBR
Panel Mounting DB Resistors To suit application
E Stop Duty
Wall Mounting DB Resistors To suit application
Cyclic Duty
Internal Fitting EMC Filter As standard
External Fitting EMC Filters To fit drive
Motor Feedback Universal Encoder Feedback SM-Universal Encoder Plus
Second Encoder Feedback SM-Encoder Plus
Resolver Input Feedback SM-Resolver**
Encoder Terminal Connector SM-ETC
Input/Output Extended I/O SM-I/O Lite
Extended I/O with
Real Time Clock SM-I/O Timer is supplied free of
Extended I/O SM-I/O Plus
Double Insulated Extended I/O SM-PELV charge with each
120V I/O SM-120V I/O Unidrive 6
Remote Network I/O Beckhoff I/O
Communication Modbus RTU (Standard) SM-Applications*
DeviceNet SM-DeviceNet The drive only communicates with the when
CTNet SM-Applications commanded to read or write, meaning the card may
CAN Interface SM-CAN
CANopen SM-CANopen be hot swapped.
SERCOS SM-SERCOS
SLM Interface SM-SLM
Application System Programming SM-Applications
Co-processor System Programming SM-Applications Lite
Modules Motion Made Easy Servo SM-EZMotion**
Application SyPTLite
Lite (IEC61131-3) Free with Unidrive 67
Programming (IEC61131-3)
Software PowerTools Pro Free download from
Control Techniques.com
Solutions Software Flying Shear Control SSP-4000-0020
* Provides additional Modbus RTU port. *** Supplied as standard with Unidrive 6
** Only one of these modules per drive.

Chapter 6 4/3/05 9:20 am Page 107
CTSoft
CT
CTSoft is a complimentary Windows based drive configuration
tool designed to enable the complete control and display of all
parameters within a Unidrive 6. Functions within CTSoft
allow data to be uploaded, viewed and saved, or retrieved
from disk, modified and printed. It can be used off-line in the
office or on-line in the factory. CTSoft communicates with the
Unidrive 6 via the computers serial port to the drives
RS485 port using a communications cable (CT Comms cable)
or via SM-Ethernet module.
Remote Upload/Download
Drive Configuration & Programming

Parameter Saving
Unidrive 6 Servo
Drive and SM-Application Reset
Monitor Screens
Multiple Window Display
Block Diagram Animation Communications Cable
Project Storage Using an RS232 to RS485 converter you can connect the PC
to the RJ45 serial port on the front of the drive.
CTSoft IS SUPPLIED WITH THE DRIVE A pre-made cable is available from Control Techniques for this
OR VISIT purpose this same cable is used with other Control
www.controltechniques.com/download.htm Techniques products that use a RJ45 RS485 connector such as
the Commander SK.
The RJ45 socket is located under a small flap on the front of
the Unidrive 6 just below the keypad.The pin-outs of this
connector are described in the Unidrive 6 User Guide.
Order Code Description

CT Comms Cable PC-to-drive Comms Cable
USB CT Comms Cable USB-to-drive Comms Cable

Chapter 6 4/3/05 9:20 am Page 108
OPERATOR INTERFACE POWER ACCESSORIES

Keypad Options Internal Dynamic Braking Resistors
The Unidrive 6 can operate without a keypad, or with Dynamic braking resistors provide a means
either the SM-Keypad or SM-Keypad Plus.The SM-Keypad is a of rapidly stopping motor and load.The
full-function, 7-digit LED data display.The SM-Keypad Plus is a mechanical energy stored in the spinning
back-lit LCD display option that can be remote mounted, has mass is converted into electrical energy
5 languages, plus custom text database, on-line help, and HMI and quickly dissipated into the resistor.
features. Both keypads are hot-pluggable, enabling them to be The ohmic value and power rating of the
moved from one drive to another without powering down. resistor is a function of the drive type.
A dynamic braking resistor is available for
Size 1 Unidrive 6
heatsink mounting on size 1 and 2 drives.
heatsink shown
No external thermal protection device is
required as resistors are electronically protected

by drive firmware.
Unidrive 6 Servo
Unidrive 6 Size DC Resistance Power Rating

1 75 R 100W
SM-Keypad SM-Keypad Plus 2 37.5 R 200W
HMI Operator Interface Unit E-Stop Duty Dynamic Braking
The HMI operator interface units have a back-lit LCD display Panel mounted DB resistors are designed for non-cyclic use
and easy-to-use navigation keys.
where energy dissipation from
Using the intuitive WYSIWYG page editor, they can be an active drive is required. Resistors are
programmed to display a variety of menus, submenus, supplied with mounting hardware unless otherwise noted.
alarms, fault conditions and other critical information.The HMIs
Cyclic Duty Dynamic Braking
support a range of capabilities including multiple font sizes, real
time trends and graphs, scheduling and background programs. These heavy-duty kits have been designed
They communicate via Modbus RTU and, to simplify to provide dynamic braking for cyclic and
installation, some are rated IP54 and require no screw continuous braking applications.
mounting holes. Onboard EMC Filter
An internal EMC filter is provided as standard
Operator Interface Range
with the Unidrive 6. It is adequate for most
industrial applications.The filter conforms to
EN61800-3 (second environment) when
motor cable length does not exceed a certain
length, dependant on model.
External EMC filters
EMC filters are used to minimize high frequency
power supply line disturbances caused by PWM
HMI 200 VT155W
AC drives that may interfere with proper
operation of sensitive electronic equipment.
These specific filters have been assessed for
conformance with the EMC directive by testing
with the appropriate Control Techniques drives.
TIU500

Chapter 6 4/3/05 9:20 am Page 109
Mounting Style SM-Universal Encoder Plus

Bookend: filter mounts next to the drive with the smallest The SM-Universal Encoder Plus module
dimension being the width of the filter provides the Unidrive 6 with an
Footprint: filter mounts between additional feedback port with the same
functionality as the base drive, plus a
the drive heatsink and the
panel or enclosure simulated encoder output that can be
programmed to operate in the
Block: filter mounts on the panel following modes:
near the drive
Optional External EMC Filters

SinCos with Commutation
Drive Order Code Drive Order Code
SP1201 to SP1202 4200-6118 SP3401 to SP3403 4200-6305 Pulse and Direction
SSI
Universal Motor Feedback; EMC Filters

SP1203 to SP1204 4200-6119 SP4401 to SP4403 4200-6406
SP2201 to SP2203 4200-6210 SP5401 to SP5402 4200-6503
The module also incorporates freeze inputs for applications
Unidrive 6 Servo
SP3201 to SP3202 4200-6307 SP3501 to SP3507 4200-6309
requiring position capture.
SP4201 to SP4203 4200-6406 SP4601 to SP4606 4200-6408
SP1401 to SP1404 4200-6118 SP5601 to SP5602 4200-6504
SP1405 to SP1406 4200-6119 SP6401 to SP6402 4200-6603 SM-Encoder Plus
SP2401 to SP2404 4200-6210 SP6601 to SP6602 4200-6604 The SM-Encoder Plus module
provides an additional incremental
MOTOR FEEDBACK
encoder feedback port.
The Unidrive 6 has a built-in Universal encoder port that
More than one SM-Encoder Plus and/
accepts the following signal types:
or SM-Universal Plus Encoder module
may be installed in a single drive.
Pulse and Direction
Forward and Reverse Pulses SM-Resolver
Quadrature with commutation This module enables the Unidrive 6
Forward and Reverse Pulses with commutation to control the speed and position of
SinCos without commutation motors fitted with resolvers. Because of
Absolute SinCos using EI485 serial protocol their ruggedness, resolvers are often used
Absolute encoder in hot, demanding environments.
Absolute SinCos using
protocol
serial communications Input Impedance: >85 Ohms
Transformation Ratio: 3:1 or 2:1
Absolute encoder
Excitation Frequency: 6kHz
Commutation only e.g. from Hall Effect sensors Excitation Voltage: 6V or 4V rms sine wave
Universal Encoder Port
Maximum Feedback Simulated Encoder Output (ppr)
Motor Resolution Quadrature Frequency &
Speed Format Direction
0-3,300 rpm 14 bit 4096 8192
3,301-13,200 rpm 12 bit 1024 2048
13,201-40,000 rpm 10 bit 256 512
The encoder simulated output can be sourced either from the

Encoder Terminal Connector resolver or the main drive encoder.
The 15 way D-type converter is used
to simplify motor feedback wiring by
Breaking out the 15-pin D-connector
SM - ETC
signals to screw terminals.

Chapter 6 4/3/05 9:20 am Page 110
INPUT/OUTPUT Remote Network I/O

SM-I/O Lite The high-quality Beckhoff I/O system is
Additional I/O (1 x Analog Input ( 10V bi-polar or available for CTNet systems. Beckhoff
4-20mA), 1 x Analog Output (0-10V or 4-20 mA), systems for CTNet include a bus coupler
3 x Digital Input and 1 x Relay). and a large variety of snap-on terminal
SM-I/O Timer blocks allowing up to 256 digital inputs or outputs and up to
As per SM-I/O Lite but with the addition of a 100 analog inputs and outputs per bus coupler. Up to 64
Real Time Clock for scheduling drive running. Beckhoff I/O systems can be attached to a CTNet network.
I/O points can be easily read or written. Contact Control
SM-I/O 120V
Techniques for details on the wide range of available Beckhoff
Additional I/O conforming to IEC6 1131-2 120VAC.
Remote I/O options.
6 inputs and 2 non-protected relay outputs rated
for 120VAC operation. COMMUNICATION
SM-I/O PELV
Input/Output; Communication
Unidrive 6 Servo
Double Insulated Extended I/O to NAMUR NE37

specifications for chemical industry applications.
SM-I/O Plus
This module enables the drive system designer to
solve more complex applications by providing SM-DeviceNet SM-PROFIBUS - DP SM-CANopen SM-INTERBUS
additional inputs and outputs that the Unidrive 6
can access locally.These connections are on
removable terminal strips and are programmable
using CTSoft or the drives keypad.
SM I/O Plus Terminal Diagram CT Net and Modbus SM-CAN SM-SERCOS SM-Ethernet
RTU via SM-
PL 1 Applications

Protocol Order Code Configuration
24 VDC
PROFIBUS-DP SM-PROFIBUS-DP Slave
INTERBUS SM-INTERBUS Slave
CTNet SM-Applications Peer-to-Peer
PL 2
CANopen SM-CANopen Slave
CAN Interface SM-CAN Master/Slave
SERCOS SM-SERCOS Slave
ModbusTCP/IP Slave
SM I/O Plus Terminal Description
SMTP Mail SM-Ethernet Slave
Quantity Description Notes
FTP File transfer N/A
2 Relay Contacts (N.O.) 110 VAC, 2 A resistive
3 Digital Input +24 VDC, 7.5k Ohms SLM SM-SLM Slave
* Modbus RTU is standard. An additional Modbus RTU port can be provided
with an SM-Applications module.
2 Analog Voltage Input 10 VDC, 20k Ohms, SM-SLM
10 bit The SM-SLM module allows connection to
1 Analog Voltage Output 10 VDC @ 30 mA max., Control Techniques high performance digital
10 bit
servo system, offering over 8,000,000 counts per
revolution velocity feedback.

Chapter 6 4/3/05 9:20 am Page 111
operating system with task update times as low as 250s, fully

Fieldbus synchronised to the drives own control kernel to give you the
Connectivity best possible performance for drive control and motion.
Input/Output The module has two digital inputs and two
digital outputs for high-speed I/O operations such as position
Fieldbus Gateway
capture or actuator firing and a fast optically isolated RS485
3 Networks
port, supporting standard protocols such as; Modbus for
connection to external devices like Operator Interface panels
or synchronous communication using the protocol.
Standard Solutions Where applicable standard software
Fieldbus Gateway Solutions such as winder, flying shear and duty assist are available
2 Networks to help to simplify the development and commissioning process.
Application Co-Processor Modules

Unidrive 6 Servo
The SM-Applications Lite module is designed to
The Unidrive 6 provides unrivalled fieldbus flexibility. Using the Fieldbus
solve your automation requirements where
Gateway feature a single Unidrive 65can be configured to communicate
on both DeviceNet and PROFIBUS-DP networks simultaneously. intelligence is needed on a stand-alone drive or a
drive connected to a centralised controller via I/O or Fieldbus.
The Module provides many of the functions of SM-Applications
APPLICATION MODULES but may be programmed using eitherSyPTLite Lite or .
SM-Applications Lite withSyPTLitegives
Lite you an intermediate
SM-Applications level automation solution that is suitable for a wide variety of
The SM-Applications module transforms your Unidrive 6 applications, while and SM-Applications Lite will allow
drive into a powerful automation controller that adds fast PLC you to exploit the full power and performance of the option
functionality and can be integrated with operator interfaces, module in stand-alone applications.
remote I/O and other intelligent devices via our drive-to-drive
SM-EZMotion
network CTNet.This gives you all of the benefits of a fully
distributed control system including better performance, The SM-EZMotion is ideal for all of your motion
reduced cost and smaller electrical panel sizes. control applications whether simple or highly
complex.Windows based PowerTools Pro
Performance The SM-Applications module contains its
configuration software helps to simplify applications
own high performance microprocessor, leaving the drives own
whilst maintaining flexibility and functionality.
processor to give you the best possible motor performance.
It contains 384K of user program memory, meaning that you The module is equipped with four digital inputs and two
are never likely to be limited by the program size or digital outputs for external control. Simplify all of your motion
processing power of the module. applications by using the built-in High-Speed Capture, Queuing,
Profile Summation, and Program Multi-tasking capabilities.
Easy Powerful Configuration The PLC functionality is
programmed using (System Programming Tool) Ease of use defines this multipurpose motion controller.Take
allowing you to tackle automation problems from simple start advantage of all its features to quickly solve these applications:
and stop sequencing through to more complex machine and
motion control applications. The device is programmed within Simple Indexing Phase Synchronisation
an IEC61131-3 environment with your choice of 3 languages, Pick and Place Random Infeed Control
meaning that you will be quickly familiar with the Flying Shear Rotary Knife
intuitive user interface. provides a suite of diagnostic High Speed Labelling And many more...
and debugging features for maintenance and to help you to
get your solution into service faster.
Real-Time Control SM-Applications gives you real-time
access to all of the drives parameters plus access to data from
I/O or other drives.The module uses a high-speed multi-tasking

Chapter 6 4/3/05 9:20 am Page 112
PROGRAMMING SOFTWARE The SyPTLite

Lite program may be copied to or from the Smartcard
on the drive, allowing the data to be safely stored or retrieved

SyPTLite
Lite
for serial machine manufacture and maintenance purposes.
SyPTLiteis
Lite a ladder diagram editor that allows you to develop SyPTLitewith
Lite SM-Applications Lite and Unidrive 6
programs that can be executed onboard Commander SK with
LogicStick, onboard the Unidrive 6 built-in PLC or on The SM-Applications Lite contains its own high-performance
SM-Applications Lite option modules. microprocessor, of the same type as used in the drive, giving
SyPTLiteis
Lite designed to meet the needs of the majority of
option module gives you the flexibility to decide how your
drive to add simple PLC functionality such as drive control and
program task will run, either background or cyclic.The cyclic
sequencing.The software has been developed with a definite
task means that the program will start on a fixed time-base
focus on intuitive ease of use
that is synchronised with the drives own internal control loops.
allowing you easy access all of the
The time-base is selectable between 1 200ms.
drives parameters and to monitor

Unidrive 6 Servo
and debug your program on line. SM-Applications Lite and yPTLite

Lite
SyPTLitecontains
Lite a comprehensive offer a compelling alternative to
library of functions that is based traditional mini-PLC systems, in
on a subset of those available in applications where cost, foot print
the programming tool.These include: size and performance are critical.
Note: Full SM-Applications does
Arithmetic Blocks Comparison Blocks not support SyPTLite
Lite programs.
Timers Counters
Multiplexers Latches Lite IS SUPPLIED FREE WITH THE
Bit Manipulation DRIVE OR VISIT
SyPTLitwith
Lite Unidrive 6 onboard PLC
Unidrive 6 supports ladder-programming capability, i.e. the
drive itself is capable of storing and executing a SyPTLite
Lite
program without the requirement for additional option

modules.The drive is prioritised to execute all motor
control related functions first and will use any remaining
processing time to execute theSyPTLite Lite ladder diagram
as a background activity.
Level 4
Level 3 option module with
multiple drives
Level 2
Level 1 ladder SyPTLite
Lite software
Lite software

Chapter 6 4/3/05 9:20 am Page 113

Overview is the professional drive programming
toolkit for OEMs and End Users who wish to maximise the
performance of their machines and factory.This IEC61131-3
programming software offers greatly enhanced functionality
allowing you to connect drives, Operator Interfaces and I/O to
a network and configure how they exchange data.
allow you to program in your choice of three different
Ladder incorporates an IEC 61131-3 Ladder
languages, with a real-time multi-tasking environment. It contains
language editor.This form of programming will be familiar to all
a suite of monitoring and diagnostics features that help you to
PLC programmers and is the ideal format for sequencing and
reduce the time it takes to develop your programmes and
I/O control.
allows you to get your machine into service faster.

SM-Applications and SM-Application Lite option modules
Unidrive 6 Servo
(and Mentor II DC Drive with MD29 option modules).
DPL Drive Programming Language is a structured text

NEXT loops. DPL is ideal for initialising, configuration and
general programming.
Industrial Network allows you to configure a
Diagnostics and debugging Good diagnostics are essential
single drive or a complete drive system connected to a
and ensure:
network. CTNet is an industrial network designed to be
deterministic, robust and tolerant to noise and interference. Software development time is minimised
An OPC server is available free of charge from your local Commissioning time is reduced
Control Techniques Drive Centre or Distributor. Down time is cut dramatically
Programming allows you to program in your contains a suite of diagnostic tools that help you to
choice of three programming languages; Function block find problems with the system or software quickly and easily.
diagram, Ladder diagram and DPL (Drive Programming When connected on-line, shows you live real-time
Language). And offer a multi-tasking environment where the views of variables in Function Block Diagrams, Ladder
tasks are scheduled according to the required speed of Diagrams and DPL, and allows you to execute program
execution or triggered by events. stepping and breakpoints.
Function Block incorporates an IEC61131-3 System Watch Window Allows you to monitor real-time
function block diagram editor, and comes with a library of variables and parameters form a single drive or multiple drives.
functions.These embed years of application experience to
make your software easier to write and easy to re-use.
Additionally you can create a library of your own function
SyPTPro.com. All function blocks may be used in any of the
three languages.

Chapter 6 4/3/05 9:20 am Page 114
POWERTOOLS PRO WITH

The PowerTools Pro software in combination with the SM-
EZMotion module enables users to fully realise the motion
control power of the Unidrive 6. A familiar Microsoft
Windows interface provides operators and machine builders
with the tools needed to access everything required for
complete servo control PLS, Queueing, Analog-In, User
Variables, High-Speed Capture, Electronic Gearing, Multiple
Profile Summation, S-Curve Accel and Decel, Program
multitasking, Synchronised motion, and more.
An unexpanded Hierarchy View is shown on the left-hand side
Developing applications with PowerTools Pro is an easy
five-step, top-down process that quickly gets your applications

running.The five task areas that need to be completed in User Units
Unidrive 6 Servo
order are found in the Hierarchy View Hardware, Setup, User Units are the first item under Setup on the PowerTools
I/O Setup, Motion, Programs and Network. Some areas may hierarchy. User units deliver high resolution performance and
not need completing, as some applications, such as a flying ease of use. Motion can be programmed in any units that the
cutoff may not require programming nor network user desires. Setup the 32-bit data resolution for position,
parameters to operate. velocity, and acceleration data one time and the rest is done
for you. Select from optional time scales for Velocity and
Programming software for the SM-EZMotion Acceleration units.
module that gets applications up and running quickly, Programs
from the simple to the complex
Hierarchy View provides for an easy, flexible, and customised user programs up to 1,000 lines of code. Use
powerful programming environment conditional branching, wait for, program calls, formulas, user
Familiar WindowsTM-based processes simplify complex applications. Easily create programs, such as the drill
entering data
head positioning program below, by dragging and dropping,
Fill-in-the-BlankValues or typing program instructions, variables, I/O, and formula
Point and Click Radio Buttons operands into your program screen. Use the SM-EZMotion
Scrolling Menu Selections module to run one program at a time, or up to four
Drag and Drop parameters and I/O assignments programs simultaneously!

parameter updates.
PowerTools Pro WITH SM-EZMotion

OR VISIT

Chapter 6 4/3/05 9:20 am Page 115
Assignments

Unidrive 6 Servo
Indexes
to a master.
Profiles
Multiple Profiling

Chapter 6 4/3/05 9:20 am Page 116
Flying Shear Inline
1OZ 2ABC 3DEF
F1 F2 F3
Operator
Unidrive 6
4GHI 5JKL 6MNO
F4 F5 F6
Interface 7PRS
F7
8TUV
F8
9WXY
F9
0 Space
Unimotor
Del F10 +/-
CTIU
toh snur enihcam sihT

NOITUAC
GNITFIL ROF REVOC
ESU TON OD
egatloV hgiH
REGNAD
MU ROTOMINU
Master
Encoder Motion r
Ba
The Flying Shear is a common industrial application for cutting C
ut
tin
g
a continuous product to a set length while at line speed.This

Flying Shear Angled
machines, depositors, punches, product inspection, or any other
Standard Features
Unidrive 6 Servo
Easy configuration
Solutions Software
Unidrive 6
Hardware and software limits


NOITUAC
GNITFIL ROF REVOC
ESU TON OD
REGNAD
egatloV hgiH
High speed output is used to initiate the cut Master
Encoder
Registration capture
MU ROTOMINU
Unimotor

Dynamic motion profile changes on the fly Adjustable Angle
Engineering units are used for programming

numerator and denominator to allow fractional values Solutions Software Order Code
Resolution of the cut-length may be entered to Flying Shear Control SSP-4000-0020
within 0.001 units
Profile optimisation reduces the machines mechanical stress: Accessories
The return profile is calculated to operate at the slowest
speed and acceleration rate, and yet with sufficient time to Fieldbus communication options:
achieve the next cut, either triangular or trapezoidal profiles Modbus, DeviceNet, CANopen
are used PROFIBUS DP, INTERBUS, Ethernet and CTNet.
Parallel and angled carriage applications are handled Expanded I/O option
CTNet Modular I/O
Range of HMIs
Dynamic Braking

Chapter 6 4/3/05 9:20 am Page 117
Unimotor EZ/UM
OVERVIEW
Unimotors are very smooth, low cogging brushless AC servo
motors from Control Techniques.They are 3 phase, 6 or 8 pole,
permanent magnet motors exhibiting a sinusoidal back EMF
characteristic. Standard options include brakes, fans, and cables for
connectorized motor power and feedback, including incremental,
resolver and Sin/Cos Absolute.The unique finned motor housing
is a high-strength aluminum alloy casting that improves heat
dissipation by conduction, radiation and convection.This medium
inertia motor optimises torque output and reduces cogging
torque.The compact design gives increased torsional stiffness.
Laminations and coils are optimised both for high efficiency and
to provide low harmonic distortion in the airgap flux. Unimotor
Overview; Nameplate
Specification
Unimotor
Standard motors have UL and CAN/CSA recognised
Insulation System to class.The CTD/IS/2000/01 insulation This product has been designed to be operated with Control
system number on the motor number plate, together with the Techniques drives and must not be put into service unless the
symbol, denotes this. Earlier motors may display this machinery into which it is to be incorporated has been declared
information on a separate label on the rear cover. in conformity with the provisions of the machinery directive.
If the UL symbol has E215243 underneath, then this indicates NAMEPLATE
full motor recognition.
Machinery Directive 89/392/EEC amended to 98/37/EC Values shown for KE; KT, Io, stall/rated torque (M0/N) and power
(PN) are for motor at full maximum rating in a 40C ambient.
Low Voltage Directive 73/23/EEC
KE(NOM) is the motors back e.m.f. at 20C.
EN 60034 General requirements for rotating electrical
machinery
EN 60034-1 Duty: S1 Continuous
Storage: -15 to 40C Operating: Min ambient
0C; max ambient 40C
Less than 1000m altitude
Relative humidity: 90% Non condensing
EN 60034-5 Degree if Ingress protection: IP65S (with
mating connector & cable fitted) 3, 8pole, PM Servomotor
EN 60034-6 Method of cooling: free circulation, Indicates number of poles.This motor has 8 poles or 4 pole
free convection
pairs. Electrical frequency = (rpm/60) x (number of pole pairs)
EN 60034-7 Flange mounted: horizontally or vertically
EN 60034-8 Terminal markings: U V W 190UMD201CBAAA
EN 60034-11 Thermal protection: PTC thermistor, Motor type number ref. Ordering information
165C TP111 (Not SL variants) VPWM 380 /480 Vac For use with a VPWM (Voltage Pulse
EN 60034-18 Insulation system: Class H 600V, UL number Width Modulation) Drive with supply voltage as indicated.
E214439
Brake 24 Vdc; 1.1 A Brake supply requirements
EN 60072 Dimensions and output for rotating electrical
machines KE (NOM) 147V/krpm KE ac Volts per 1000rpm with motor
EN 60072-1 Type N (Customer variants) at 20C
ISO 1940-1 Balancing: to G6.3, (ISO8821 half key convention)
M0/N 78.0 /60.0 Nm M0 (Stall torque) = 78.0Nm; MN (rated
Equipment is not deemed suitable for use in an explosive
torque @ nominal speed rpm) = 60.0 Nm
atmosphere.

Chapter 6 4/3/05 9:20 am Page 118
PN 12.6kW PN (Power @ nominal speed) = 12.6 kW

EN60034
KT (HOT) 2.24 Nm/A; I0 (HOT) 34.8 A KT (Torque Constant)
at maximum operating temperature = 2.24 Nm/A I0(HOT) (Stall CE (Conformit Europenne) mark and reference number.
Current at maximum operating temperature) = 34.8 A Note: A Declaration of Incorporation is contained within the
IP65S Ingress Protection = IP65S (excludes front shaft seal) Unimotor Installation Guide that accompanies each motor.
Insulation ClassH Windings are built to Class H standard
(180C) Motor will have further ambient and t restrictions. UM/EZ Unimotor Order Code
0-40C / 125C Ambient temperature range / (delta) winding 95 UM B 30 0 C A C A A
temperature increase above ambient (at full rating) Inertia: A = Standard, B = High
TCW 632s Thermal Time-constant of copper winding with respect Flange Mounting: A = IEC
to iron laminations. Feedback Device:
C = Incremental Encoder
nN /MAX 2000 /3265 rpm nN (nominal speed) = 2000 rpm / R = Sin / Cos multi turn Encoder
nMAX (maximum speed) = 3265 rpm (at maximum drive supply S = Sin / Cos single turn Encoder
voltage and no load or low torque) A = Resolver
Shaft Key: A = With Key, B = No Key
Note: maximum speed given for motor includes limit of feedback device,
Nameplate; Dimensions
Connection Type: C = Connectors

but excludes drive limits.
Brake: 0 = None, 1 = 24 VDC
Unimotor
f-b resolver Feedback Device is a resolver.

Rated Speed: 20 = 2,000, 30 = 3,000, 40 = 4,000 rpm,
Other Devices are as per the following table. 60 = 6,000 rpm
Stator Length: A, B, C, D, E
Feedback Type Name
Unimotor UM = 460V EZ=230V
Resolver resolver"
Frame Size: 75, 95, 115, 142, 190
Incremental 4096 "4096ppr"
CT Coder & SLM3 "SLM3"
Sincos SRM50 1024 "SRM50"
Sincos SRS50 1024 "SRS50"
Dimensions (mm) Unimotor UM and EZ

Frame Size 75 95 115 142 190
Dimension / Winding B D B D B D E B D A B C D
A Length Overall 241 301 252 312 272 332 362 255 315 273 327 381 435
A Length Overall (Braked) 271 331 282 342 302 362 392 315 375 327 381 435 489
B Body Length 176 236 187 247 207 267 297 190 250 210 264 318 372
B Body Length (Braked) 206 266 217 277 237 297 327 250 310 264 318 372 425
C Flange Square 75 75 95 95 115 115 115 142 142 190 190 190 190
D Flange Thickness 7 7 9 9 11 11 11 12.3 12.3 14.5 14.5 14.5 14.5
E Pilot Diameter [J6] 60 60 80 80 95 95 95 130 130 180 180 180 180
F Pilot Thickness 2.4 2.4 2.9 2.9 2.9 2.9 2.9 3.4 3.4 4 4 4 4
G Power to Connector C/L 61 61 62.5 62.5 66 66 66 80 80 0 0 0 0
H Bolt Circle Diameter [H14] 5.8 5.8 7 7 10 10 10 12 12 14.5 14.5 14.5 14.5
J Bolt Hole p.c.d 75 75 100 100 115 115 115 165 165 215 215 215 215
K Overall Height 126 126 146 146 166 166 166 193 193 260 260 260 260
L Signal Connector Height 107 107 117 117 127 127 127 140 140 161.1 161.1 161.1 161.1
M Signal Connector Height (SLM) 88 88 98 98 108 108 108 121 121 0 0 0 0
N Shaft Length (Front) 30 30 40 40 40 50 50 50 50 58 58 58 58
P Shaft Diameter (Front)
14 14 19 19 19 24 24 24 24 32 32 32 32
[K6-190 only]
R Shaft Key Length 22 22 32 32 32 40 40 40 40 49 49 49 49
S Shaft Key Height 15.9 15.9 21.4 21.4 21.4 26.9 26.9 26.9 26.9 35 35 35 35
T Shaft Key to Shaft End 3 3 3 3 3 4 4 4 4 3.1 3.1 3.1 3.1
V Shaft Key Width 5.0 5.0 6 6 6 8 8 8 8 10 10 10 10

Chapter 6 4/3/05 9:20 am Page 119
Dimensions (mm) Unimotor UM and EZ

Frame Sizes 75 - 142
Unimotor
Dimensions
Frame Size 190

Chapter 6 4/3/05 9:20 am Page 120
Unimotor UM servo motor technical specifications For 3 Phase VPWM Drives 380 - 480Vrms
Stall torque; stall current and power

Unimotors with Encoder Feedback relate to maximum continuous operation in a 40 0 C ambient
t = 100C, 40C ambient All data subject to +/-10% tolerance
Motor Frame Size (mm) 75 95 115 142 190

All Speeds Frame Length A B C D A B C D E A B C D E A B C D E A B C D
Continuous Stall Torque (Nm) 1.2 2.2 3.1 3.9 2.3 4.3 5.9 7.5 9.0 3.5 6.6 9.4 12.4 15.3 6.3 10.8 15.3 19.8 23.4 21.8 41.1 58.7 73.2
Peak Torque (Nm) 3.6 6.6 9.3 11.7 6.9 12.9 17.7 22.5 27.0 10.5 19.8 28.2 37.2 45.9 18.9 32.4 45.9 59.4 70.2 65.4 123 176 219
High Inertia (kgcm2) 1.2 1.6 2.1 2.5 3.5 4.5 5.6 6.7 7.8 9.7 12.0 14.3 16.6 18.8 21.6 28.0 34.3 40.7 47.0 93.5 141 188 235
2
Standard Inertia (kgcm ) 0.6 1.0 1.5 1.9 1.4 2.5 3.6 4.7 5.8 3.2 5.5 7.8 10.0 12.3 7.8 14.1 20.5 26.8 33.1 50.0 97.0 144 191
Winding Thermal Time Const.(sec) 81 74 94 100 172 168 183 221 228 175 185 198 217 241 213 217 275 301 365 240 242 319 632
Maximum Cogging (Nm) 0.02 0.03 0.04 0.05 0.03 0.06 0.08 0.10 0.13 0.06 0.10 0.14 0.18 0.21 0.09 0.16 0.23 0.30 0.35 0.30 0.54 0.72 0.99
Kt (Nm/A) 2.40
Rated Speed 2000 (rpm) Ke (V/krpm) 147
Rated Torque (Nm) 1.1 2.1 3.0 3.8 2.2 4.0 5.5 6.9 8.2 3.2 6.1 8.7 10.8 14.0 5.9 10.3 14.6 18.4 21.3 20.0 36.9 50.4 54.7
Continuous Stall Current (A) 0.5 1.0 1.3 1.7 1.0 1.8 2.5 3.2 3.8 1.5 2.8 4.0 5.2 6.4 2.7 4.5 6.4 8.3 9.5 9.1 17.2 24.5 30.5
Rated Power (kW) 0.23 0.44 0.63 0.80 0.46 0.84 1.15 1.45 1.72 0.67 1.28 1.82 2.26 2.93 1.24 2.16 3.06 3.85 4.46 4.19 7.73 10.6 11.5
R (ph-ph) (Ohms) 144 48.2 25.0 15.7 59.0 17.0 9.90 6.00 4.30 27.8 8.55 4.55 2.96 2.17 12.5 3.60 2.10 1.35 0.98 1.80 0.56 0.33 0.23
L (ph-ph) (mH) 214 99.2 59.2 44.7 131 54.5 36.5 25.6 18.9 94.6 40.5 25.7 18.6 14.7 58.0 29.8 18.7 13.6 10.7 28.1 13.0 8.90 6.30
Unimotor
Specification
Kt (Nm/A) 1.6
Rated Speed 3000 (rpm)
Ke (V/krpm) 98.0
Rated Torque (Nm) 1.1 2.0 2.8 3.5 2.0 3.9 5.4 6.8 8.1 3.0 5.5 8.1 10.4 12.6 5.4 9.0 12.2 15.8 18.0 19.2 33.0 35.0 36.8
Rated Power (kW) 0.35 0.63 0.88 1.10 0.63 1.23 1.70 2.14 2.54 0.94 1.73 2.54 3.27 3.96 1.70 2.83 3.83 4.96 5.65 6.03 10.4 11.0 11.6
R (ph-ph) (Ohms) 60.8 20.1 10.5 7.5 24.5 6.80 4.00 2.50 2.00 12.6 3.86 2.02 1.40 1.10 5.63 1.72 0.94 0.61 0.44 0.79 0.30 0.14 0.09
L (ph-ph) (mH) 98.4 41.8 27.6 19.7 57.9 24.3 15.5 10.9 8.50 43.1 18.6 11.4 8.60 7.40 31.0 13.3 8.30 6.10 4.80 13.2 6.11 3.60 2.46
Kt (Nm/A) 1.20
Ke (V/krpm) 73.5
Rated Torque (Nm) 1.0 1.7 2.3 2.9 1.8 3.0 4.0 4.9 5.7 2.5 4.7 6.3 7.5 8.7 3.6 7.0 8.9 10.7 12.2 N/A
Continuous Stall Current (A) 1.0 1.9 2.8 3.3 2.0 3.5 5.0 6.3 7.5 3.0 5.5 7.9 10.4 12.8 5.3 9.0 12.8 16.5 19.5
Rated Power (kW) 0.42 0.71 0.96 1.21 0.75 1.26 1.68 2.05 2.39 1.05 1.97 2.64 3.14 3.64 1.51 2.93 3.73 4.48 5.11
R (ph-ph) (Ohms) 36.8 10.5 6.30 4.20 12.7 4.08 2.10 1.50 1.03 6.91 2.14 1.16 0.73 0.57 3.12 1.00 0.53 0.35 0.24
L (ph-ph) (mH) 54.9 24.8 14.9 10.8 31.5 13.6 8.50 6.30 4.80 23.5 10.2 6.60 4.70 3.90 17.6 7.50 4.70 3.60 2.70
Kt (Nm/A) 0.80
Ke (V/krpm) 49.0
Rated Torque (Nm) 0.9 1.6 2.1 2.6 1.3 2.1 2.8 3.3 3.7 2.2 4.0 5.1 N/A 2.9 4.5 N/A
Continuous Stall Current (A) 1.5 2.8 3.9 4.9 2.9 5.4 7.4 9.4 11.3 4.4 8.3 11.8 7.9 13.5
Rated Power (kW) 0.57 1.01 1.32 1.63 0.82 1.32 1.76 2.07 2.32 1.38 2.51 3.20 1.82 2.83
R (ph-ph) (Ohms) 15.0 5.00 2.66 1.90 5.45 1.82 1.05 0.62 0.48 3.1 0.97 0.50 1.42 0.46
L (ph-ph) (mH) 24.0 10.6 6.80 4.80 14.1 6.00 3.80 2.70 2.10 15.54 4.81 2.94 7.72 3.44
The information contained in this specification is for guidance only and does not form part of any contract
N/A Not Available Consult factory Control Techniques have an ongoing process of development and reserve the right to change the specification without notice.

Chapter 6 4/3/05 9:20 am Page 121
Unimotor EZ servo motor technical specifications For 3 Phase VPWM Drives 200 - 240Vrms
Unimotors with Encoder Feedback Stall torque; rated torque and power
t = 100C, 40C ambient relate to maximum continuous operation in a 40 0 C ambient
All data subject to +/-10% tolerance
Peak Torque (Nm) 3.6 6.6 9.3 11.7 6.9 12.9 17.7 22.5 27.0 10.5 19.8 28.2 37.2 45.9 18.9 32.4 45.9 59.4 70.2 65.4 123 176 219
2
High Inertia (kgcm ) 1.2 1.6 2.1 2.5 3.5 4.5 5.6 6.7 7.8 9.7 12.0 14.3 16.6 18.8 21.6 28.0 34.3 40.7 47.0 93.5 141 188 235
2
Kt (Nm/A) 1.40
Ke (V/krpm) 85.5
Rated Torque (Nm) 1.1 2.1 3.0 3.8 2.2 4.0 5.5 6.9 8.2 3.2 6.1 8.7 10.8 14.0 5.9 10.3 14.6 18.4 21.3 20.0 36.9 50.4
Continuous Stall Current (A) 0.9 1.6 2.3 2.8 1.7 3.1 4.3 5.4 6.5 2.6 4.8 6.8 8.9 11.0 4.6 7.8 11.0 14.2 16.8 15.7 29.5 42.1
Rated Power (kW) 0.23 0.44 0.63 0.80 0.46 0.84 1.15 1.45 1.72 0.67 1.28 1.82 2.26 2.93 1.24 2.16 3.06 3.85 4.46 4.19 7.73 10.6
R (ph-ph) (Ohms) 45.8 15.3 8.52 5.72 19.4 6.2 3.16 2.31 1.71 9.09 2.83 1.51 0.99 0.82 4.28 1.33 0.76 0.45 0.32 0.50 0.15 0.10
Unimotor
98.8 43.4 27.9 20.2 59.2 25.8 16.0 12.6 10.1 47.3 20.6 13.1 9.54 7.86 33.7 15.1 10.3 6.96 5.58 7.98 3.32 2.73
Specification
L (ph-ph) (mH)
Kt (Nm/A) 0.93
Ke (V/krpm) 57.0
Rated Torque (Nm) 1.1 2.0 2.8 3.5 2.0 3.9 5.4 6.8 8.1 3.0 5.5 8.1 10.4 12.6 5.4 9.0 12.2 15.8 N/A 19.2 33.0 N/A
Continuous Stall Current (A) 1.3 2.4 3.4 4.2 2.5 4.7 6.4 8.1 9.7 3.8 7.1 10.2 13.4 16.5 6.8 11.7 16.5 21.3 23.5 44.2
Rated Power (kW) 0.35 0.63 0.88 1.10 0.63 1.23 1.70 2.14 2.54 0.94 1.73 2.54 3.27 3.96 1.70 2.83 3.83 4.96 6.03 10.4
R (ph-ph) (Ohms) 18.9 6.26 3.50 2.38 8.03 2.68 1.57 1.03 0.77 4.01 1.30 0.73 0.47 0.37 1.90 0.59 0.31 0.20 0.25 0.08
L (ph-ph) (mH) 42.5 18.4 11.9 8.82 25.6 12.0 7.91 5.60 4.65 20.1 9.16 6.07 4.26 3.49 15.0 6.85 4.20 1.94 3.98 1.87
Kt (Nm/A) 0.72
Ke (V/krpm) 44.0
Rated Torque (Nm) 1.0 1.7 2.3 2.9 1.8 3.0 4.0 4.9 5.7 2.5 4.7 6.3 7.5 3.6 7.0 N/A N/A
Continuous Stall Current (A) 1.7 3.1 4.4 5.5 3.3 6.0 8.3 10.5 12.6 4.9 9.2 13.1 17.3 8.8 15.1
Rated Power (kW) 0.42 0.71 0.96 1.21 0.75 1.26 1.68 2.05 2.39 1.05 1.97 2.64 3.14 1.51 2.93
R (ph-ph) (Ohms) 10.2 3.39 1.92 1.48 5.15 1.64 0.92 0.62 0.43 2.62 0.82 0.44 0.29 1.20 0.36
L (ph-ph) (mH) 24.6 10.8 7.14 5.42 15.50 6.77 4.61 3.46 2.54 12.6 5.48 3.57 2.53 9.45 4.08
Kt (Nm/A) 0.47
Ke (V/krpm) 28.5
Rated Torque (Nm) 0.9 1.6 2.1 2.6 1.3 2.1 2.8 3.3 2.2 4.0 N/A N/A 2.9 N/A N/A N/A
Continuous Stall Current (A) 2.6 4.8 6.7 8.4 5.0 9.3 12.7 16.2 7.6 14.2 13.6
Rated Power (kW) 0.57 1.01 1.32 1.63 0.82 1.32 1.76 2.07 1.38 2.51 1.82
R (ph-ph) (Ohms) 4.49 1.49 0.95 0.65 2.01 0.67 0.35 0.26 0.96 0.30 0.49
L (ph-ph) (mH) 10.7 4.73 3.10 2.33 6.41 3.01 1.77 1.40 4.80 2.09 3.96
N/A Not available Consult factory Control Techniques have an ongoing process of development and reserve the right to change the specification without notice.

Chapter 6 4/3/05 9:20 am Page 122
Unidrive 6 and Unimotor UM Selection

Unidrive 6 & Unimotor UM
Selection
Unidrive 6 / Unimotor UM System Selection Guide (400V)

xx
Cont. Stall Peak Stall Rated Torque Rated Max.* Encoder Motor
Drive Motor Torque Torque @Rated Speed* Power Operating Resolution Inertia Motor Ke Motor Kt Weight
Model Model Speed lines/rev Vrms/krpm
Nm Nm Nm kW rpm kg-cm2 Nm/Arms kg
SP1402 75UMB 2.1 5.3 1.9 0.61 3000 4096 1.0 98 1.6 4.3
SP1403 75UMD 3.7 9.3 3.3 1.04 3000 4096 1.9 98 1.6 5.8
SP1404 95UMB 4.2 10.4 3.8 1.19 3000 4096 2.5 98 1.6 6.1
SP1405 115UMB 6.3 15.7 5.2 1.64 3000 4096 5.5 98 1.6 8.9
SP1405 95UMD 7.1 17.7 6.5 2.03 3000 4096 4.7 98 1.6 8.8
SP1406 142UMB 10.4 22.3 8.6 2.72 3000 4096 14.1 98 1.6 12.1
SP2401 142UMB 10.4 25.9 8.6 2.72 3000 4096 14.1 98 1.6 12.1
SP2401 115UMD 11.4 28.5 9.6 3.01 3000 4096 10.0 98 1.6 12.5
SP2402 115UME 13.8 34.4 11.3 3.56 3000 4096 12.3 98 1.6 14.2
SP2403 142UMD 19.0 47.5 15.2 4.76 3000 4096 26.8 98 1.6 17.6
SP2403 190UMA 21.6 60.6 19.0 5.97 3000 4096 50.0 98 1.6 23.2
SP3402 190UMB 40.3 96.0 32.3 10.16 3000 4096 97.0 98 1.6 32
SP3403 190UMC 56.9 109.3 34.0 10.67 3000 4096 144 98 1.6 40.8
SP4401 190UMD 68.8 202.7 34.6 10.87 3000 4096 191 98 1.6 49.5
* Rated Speed = Maximum Operating Speed. Unimotors are available in alternative stack lengths A, C and E. Consult your Drive Centre/Distributor.
xx weight = low inertia, no brake
All data is at 6 kHz switching frequency

Chapter 6 4/3/05 9:20 am Page 123
SPEED / TORQUE CURVES UNIDRIVE 6 AND UNIMOTOR UM 380-460 VAC

75UMB with SP1402 75UMD with SP1403 95UMB with SP1404 115UMB with SP1405
5.625 11.25 11.25 16.5
13.75
4.5 9 9
11
3.375 6.75 6.75
Torque
Torque
Torque
Torque
8.25
2.25 4.5 4.5
5.5
1.125 2.25 2.25 2.75
Nm Nm Nm Nm
Unidrive 6 & Unimotor UM

0 1000 2000 3000 0 1000 2000 3000 0 1000 2000 3000 0 1000 2000 3000
95UMD with SP1405 142UMB with SP2406 142UMB with SP2401 115UMD with SP2401
18 22 22.7 33
Speed/Torque Curves
27.5
22
13.5 16.5
22
16.5
Torque
Torque
Torque
Torque
9 11 16.5
11
11
4.5 5.5
5.5 5. 5
Nm Nm Nm Nm
0 1000 2000 3000 0 1000 2000 3000 0 1000 2000 3000 0 1000 2000 3000
115UME with SP2402 142UMD with SP2403 190UMA with SP2403 190UMB with SP3402
36 55 66 112.5
55
44 90
27
44
33 67.5
Torque
Torque
Torque
Torque
18 33
22 45
22
9
11 22.5
11
Nm Nm Nm Nm
0 1000 2000 3000 0 1000 2000 3000 0 1000 2000 3000 0 1000 2000 3000
190UMC with SP3403 190UMD with SP4401
112.5 200
180
90 160
140 Notes
67.5 120 Continuous ratings of the motor are based on 100C motor case temperature
Torque
Torque
and 40C ambient with the motor mounted to an aluminum plate.

100
45 80 Speed torque curves are based on 380-460 VAC operation at 6 kHz switching
frequency.Typical peak torque ratings are 300% of continuous. For reduced peak
60
torque applications drives with lower current ratings can be used.
22.5 40
20 All specifications are 10% due to motor parameter variations.
Nm 0
0 1000 2000 3000 0 1000 2000 3000

Chapter 6 4/3/05 9:20 am Page 124
Unidrive 6 and Unimotor EZ Selection

Unidrive 6 / Unimotor EZ System Selection (230V)
xx
Cont. Stall Peak Stall Rated Torque Rated Max.* Encoder Motor
Drive Motor Torque Torque @Rated Speed* Power Operating Resolution Inertia Motor Ke Motor Kt Weight
Model Model Speed lines/rev Vrms/krpm
Nm Nm Nm kW rpm kg-cm2 Nm/Arms kg
SP1402 75EZB 2.1 5.3 1.9 0.61 3000 4096 1.0 57 0.93 4.3
SP1203 75EZD 3.7 9.3 3.3 1.04 3000 4096 1.9 57 0.93 5.8
SP1204 95EZB 4.2 10.4 3.8 1.19 3000 4096 2.5 57 0.93 6.1
Unidrive 6 & Unimotor EZ
SP2201 115EZB 6.3 15.7 5.2 1.64 3000 4096 5.5 57 0.93 8.9
SP2202 95EZD 7.1 17.7 6.5 2.03 3000 4096 4.7 57 0.93 8.8
Selection
SP2203 142EZB 10.4 25.9 8.6 2.72 3000 4096 14.1 57 0.93 12.1
SP2203 115EZD 11.4 28.5 9.6 3.01 3000 4096 10.0 57 0.93 12.5
SP3201 115EZE 13.8 34.4 11.3 3.56 3000 4096 12.3 57 0.93 14.2
SP3202 142EZD 19.0 47.5 15.2 4.76 3000 4096 26.8 57 0.93 17.6
SP3202 190EZA 21.6 60.6 19.0 5.97 3000 4096 50.0 57 0.93 23.2
* Unimotors are available in alternative rated speeds, and stack lengths A, C and E. Order selections available Consult your local Drive Centre/Distributor.
xx weight = low inertia, no brake
Data as at 6kHz switching frequency
Unimotor Holding Brake Specifications

Motor Frame Volt Current Static Torque Mechanical Disengagement Mechanical Engagement Added Inertia
Size (Model) (DC) (A) (Nm) Time-Brake Released (ms) Time-Brake Holding (ms) (kgcm2)
75mm 24 0.26 2 22 24 0.03

95mm 24 0.67 6 30 20 0.2
115mm 24 0.67 12 40 10 0.49
142mm 24 0.96 20 85 30 1.28
190mm (UMA-UMB) 24 1.04 40 95 15 1.28
190mm (UMC-UMD) 24 1.04 60 120 20 2.5

Chapter 6 4/3/05 9:20 am Page 125
SPEED TORQUE CURVES UNIDRIVE 6 AND UNIMOTOR EZ 200-240VAC

75EZB with SP1204 75EZD with SP1203 95EZB with SP1204
5.625 11.25 11.25
4.5 9 9
3.375 6.75 6.75

Torque
Torque
Torque
2.25 4.5 4.5
1.125 2.25 2.25
Nm Nm Nm
Unidrive 6 & Unimotor EZ

0 1000 2000 3000 0 1000 2000 3000 0 1000 2000 3000
Speed (rpm) Speed (rpm) Speed (rpm)
115EZB with SP2201 95EZD with SP2202 142EZB with SP2203
Speed Torque Curves

16.5 18 27
13.75 22.5
13.5
11 18
Torque
Torque
Torque
8.25 9 13.5
5.5 9
4.5
2.75 4.5
Nm Nm Nm
0 1000 2000 3000 0 1000 2000 3000 0 1000 2000 3000
115EZD with SP2203 115EZE with SP3201 115EZD with SP3202

33 36 55
27.5 44
27
22
33
Torque
Torque
Torque
16.5 18
22
11
9
11
5.5
Nm Nm Nm
0 1000 2000 3000 0 1000 2000 3000 0 1000 2000 3000
190EZA with SP3202

66
55
Notes
44
Continuous ratings of the motor are based on 100C motor case temperature
and 40C ambient with the motor mounted to an aluminum plate.
Torque
33
Speed torque curves are based on 380-460 VAC operation at 6 kHz switching
22 frequency.Typical peak torque ratings are 300% of continuous. For reduced
peak torque applications drives
11 with lower current ratings can be used.
Nm All specifications are 10% due to motor parameter variations.

0 1000 2000 3000
Speed (rpm)

Chapter 6 4/3/05 9:20 am Page 126
Unimotor UM/EZ Power Cable selection

Cable type PS for motor without brakes, PB for motors with brake.
Jacket B is for a PUR sheath and is the standard selection. A is for a PVC sheath to be used on the DS brake cable only.
Conductor Size Select the conductor size according to the motors STALL CURRENT.
Include forced cooling performance if applicable.
Cables of 6mm2 and above will be fitted with ring terminals only.
Ratings are for individual cables (not lashed together) in free air temperature up to 40C - make allowances as appropriate.
Connection detail drive end Select the correct drive end connection for the drive in use.
Connection detail motor end Select the correct motor end connection for the motor in use.
Length Numbers represent the required cable length in metres. Conversion cables will be limited to 0.4m only and the
Power Cable Selection
length is not required in the order code.

Unimotor
PS B A A A 015
Cable Type : Jacket : Phase & E Conductor Size: Cable Length (Metres):
PS - Power (Standard ) A - PVC G - 1.5 mm2 16A Min - 001 (1 metre)
PB - Power (with brake) B - PUR A - 2.5 mm2 22A Max - 100 (50m for SL)
2
B - 4.0 mm 30A 0.4m for DS to DM
C* - 6.0 mm2 37A Conversion cable
D * - 10.0 mm2 52A
E * - 16.0 mm2 70A
F** - 2 x 1mm2 Unscreened
Connection Details Drive End : Connection Details Motor End:
Drive End Motor End
A Unidriv e V3 (Size1-2) Ferrules/Epsilon/MiniAx A 75-142 Unimotor power connector

B Unidr ive V3 (Size 3- 4) Ring terminals B 190 Unimotor power connector
6 way power extension connector C 75-142 hybrid box Ferrules
C
(75-142 Unimotor male pins) D 190 hybrid box Ferrules
D M'Ax and Multi'Ax Ferrules E 75-95 DS power connector
E** DS Brake Ferrules F 115-142 DS power connector
F Unidrive 6 (Size 1-2) / DigitAx Ferrules G** DS Brake connector
G Unidr ive 6 (Size 3- 4) Ring terminals H 8 way power connector
Y 75-95 DS Conversion connector power X Cut end
Z 115-142 DS Conversion connector power
X Cut end
* Ring ter minals for Drive studs only

** PVC only available on DS brake cables

Chapter 6 4/3/05 9:20 am Page 127
Unimotor UM/EZ Signal Cable selection

Cable type Choose the cable type to match the feedback device.
Jacket B is for a PUR sheath and is the standard selection.
Special options A is for standard cable. L is for the low cost 8.5mm incremental cable.
Connection detail motor end Select the correct motor end connection for the motor feedback device in use.
Signal Cable Selection

Unimotor
SI B A A A 015
Cable Type: Jacket : Special Options: Cable Length (Metres):

SI - Incremental Encoder B - PUR A - Standard cable M in - 001 (1metre)
SR - Resolver L - 8.5mm dia SI cable M ax -100* (100 metres)
SS - SinCos Encoder 50m for SLBA
SL - Drive Link (SL M only) 10m for SIBL
0.4m for DS to DM
Conversion cable
Connection Details Drive End: Connection Details Motor End:
Drive End Motor End

A Unidrive V3 Encoder 15 pin connector A Unimotor Encoder connector
B Encoder/Resolver/SinCos Ferrules B Unimotor Resolver connector
C Multi'Ax to 2.5A 15 pin connector C Unimotor SinCos connector (SRS/M50 only)
D Multi'Ax >2.5A 15 pin connector D SLM 5 way Amphenol connector
E M 'Ax RJ45 connector E 17 way extension Encoder connector
F E psilon Encoder 26 pin connector F 90 Unimotor Encoder connector
G 17 way extension Encoder male pins G 90 Unimotor Resolver connector
H Unidr ive 6 SinCos 15 pin connector H 90 Unimotor SinCos connector
Z DS Resolver conversion connector I DS Resolver connector
X Cut end J DS Resolver Ferrules
K RJ45 connector
X Cut end
*100m on incremental only if +5V tolerance can be maintained

Chapter 6 4/3/05 9:20 am Page 128
Unimotor UM/EZ Power & Signal Cable Selection

Cables
Feedback Cable - SIBAxxx
Motor Power Cable - PSBxxx
Combination Motor Power and

Motor Brake Cable - PBBxxx
Power & Signal Cable Selection
460V Unimotor UM Cable Selection

Unimotor
Unidrive SP Motor Motor Power Motor Power/Brake Cable Feedback

Model Model Cable (required w/all brake motors) Cable 1
(yyy=length in metres) (yyy=length in metres) (yyy=length in metres)
SP1402 75UMB300CACAA PSBGFA-yyy
SIBAAA-yyy
75UMB301CACAA PBBGFA-yyy
SP1403 75UMD300CACAA PSBGFA-yyy
SIBAAA-yyy
75UMD301CACAA PBBGFA-yyy
SIBAAA-yyy
SIBAAA-yyy
SIBAAA-yyy
SIBAAA-yyy
SIBAAA-yyy
SIBAAA-yyy
SP2402 115UME300CACAA PSBGFA-yyy
SIBAAA-yyy
115UME301CACAA PBBGFA-yyy
SIBAAA-yyy
SP2404 190UMA300CACAA PSBAFB-yyy
SIBAAA-yyy
190UMA301CACAA PBBAFB-yyy
SP3403 190UMB300CACAA PSBBGB-yyy
SIBAAA-yyy
190UMB301CACAA PBBBGB-yyy
SP4402 190UMC300CACAA PSBDGB-yyy
SIBAAA-yyy
190UMC301CACAA PBBDGB-yyy
SP4403 190UMD300CACAA PSBDGB-yyy
SIBAAA-yyy
190UMD301CACAA PBBDGB-yyy
1 Cable for incremental encoder shown. Contact Control Techniques for other cables e.g. Resolver and SinCos Absolute feedback.

Chapter 6 4/3/05 9:20 am Page 129
230V Unimotor EZ Cable Selection
Unidrive SP Motor Motor Power Motor Power/Brake Cable Feedback

Model Model Cable (required w/all brake motors) Cable 1
(yyy=length in metres) (yyy=length in metres) (yyy=length in metres)
75EZB300CACAA PSBGFA-yyy
SP1201 SIBAAA-yyy
75EZB301CACAA PBBGFA-yyy
75EZD300CACAA PSBGFA-yyy
SP1203 SIBAAA-yyy
75EZD301CACAA PBBGFA-yyy
SP1204 SIBAAA-yyy
SP2201 SIBAAA-yyy
SP2202 SIBAAA-yyy
Power & Signal Cable Selection

SP2203 SIBAAA-yyy
Unimotor
SP2203 SIBAAA-yyy
115EZE300CACAA PSBAGA-yyy
SP3201 SIBAAA-yyy
115EZE301CACAA PBBAGB-yyy
142EZD300CACAA PSBBGA-yyy
SP3202 SIBAAA-yyy
142EZD301CACAA PBBBGA-yyy
190EZA300CACAA PSBBGA-yyy
SP3202 SIBAAA-yyy
190EZA301CACAA PBBBGB-yyy
1 Cable for incremental encoder shown. Contact Control Techniques for other cables e.g. Resolver and SinCos Absolute feedback.

Chapter 6 4/3/05 9:20 am Page 130
Epsilon
OVERVIEW
The Epsilon Series is the most compact digital servo drive in
the Control Techniques range. Designed to fit in 152mm
deep cabinets, with cables attached. Epsilon drives still possess
the functionality and flexibility found in our other drives
and servos.
There are three sizes of each Epsilon drive: 2 Amp, 3 Amp
and 5 Amp, with the largest drive delivering up to 6Nm
continuous torque. Each drive contains a 14-segment status
display, reset button, removable connectors and utilises
standard D type connectors.
90 to 264 VAC 1 input power

Overview
Epsilon
Up to 6Nm continuous torque The Epsilon is available as a base drive, the Epsilon Eb; or as a
single-axis positioning, indexing drive, the Epsilon Ei.The
Drive options: (in 2,3 or 5 Amp) Epsilon Ei is also available with DeviceNet-Epsilon Ei-DN.
Base Unit Eb
Power Tools FM Software
Indexing Ei
The Epsilon is very easy to commission and program using
Indexing with DeviceNet Ei-DN
PowerTools FM software.This Windows-based
Easy install, setup and operation programming environment makes extensive use of drag and
Compact, space saving design, 152mm panel drop editing, tabbed setup screens and hierarchical views.
depth including cables On-line help is a mouse click away to answer any questions.
Application notes, programming examples and the current
Pluggable connectors, standard D-type version of PowerTools FM software can be downloaded from
and screw terminals www.ControlTechniques.com/downloads.html at no charge.
State-Space Observer Control, which allows PowerTools FM is used to select the operating mode and
10-1 inertia mismatch out of the box, motor, configure I/O, set velocity limits and torque levels, and
and 50-1 with tuning monitor drive and I/O Status.
Free PowerTools Software, and upgrades
Programmable, optically isolated I/O POWERTOOLS FM IS SUPPLIED FREE WITH

THE DRIVE OR VISIT
RS232/485 serial communication interface www.controltechniques.com/download.htm
using Modbus protocol
14-segment status and diagnostic display,

time-stamping of last 10 faults for easy
troubleshooting
Field programmable flash memory firmware

(upgrades are free)
24VDC auxiliary input for logic backup

Chapter 6 4/3/05 9:20 am Page 131
Epsilon Eb
Base Drive Operation
The Epsilon Series Eb Drive is a compact drive ideal for use
with single and multi-axis controllers, PLCs and host
controllers.The analog torque or velocity modes can be used
with classic position controllers using analog outputs and
encoder inputs.The pulse mode is ideal for use with low-cost
PLC stepper controllers. Epsilon works in a variety of
applications where a host controller provides a command
signal determining the desired motion profile.
The Eb Drive is configurable for seven flexible modes of
operation, and the parameters for each mode can be adjusted
Base Drive Operation

to tailor the drive to the specific application using Windows-
STANDARD CONTROL MODES
based PowerTools FM software.
Epsilon
Analog Torque Mode Analog Velocity/Torque Mode 10 VDC
Analog Velocity Mode MC
Digital Velocity Preset Position Controller
Pulse Mode
Pulse/Pulse
Pulse/Direction
Digital Velocity Preset
Pulse/Quadrature
Summation of Analog Velocity and Digital Velocity PLC Digital I/O
User Logic
Programmable I/O
5 optically-isolated inputs
3 optically-isolated outputs Pulse Mode
Digital I/O
1 analog input 10 VDC, 14 bit PLC
2 analog output 10 VDC, 10 bit Master Axis
Programmable encoder output, Synchronised Encoder
(up to 2,048 lines per revolution)
Separate stop and travel limit decel ramps

Summation of Analog Velocity and Digital Velocity
Torque, travel, following error and
velocity limits PLC Digital I/O
8 user defined speed presets with individual User Logic
accel/decel rates Analog Trim 10 VDC
2 Programmable torque level outputs

In Motion velocity output

Chapter 6 4/3/05 9:20 am Page 132
The operating mode of the drive is simply selected with one

click in the PowerTools FM detailed setup tab.
Pulse Mode
In Pulse Mode the drive will receive pulses from a master
source (single-ended or differential), which can be
interpreted in three ways:
Pulse/Pulse
Pulse/Direction
Pulse/Quadrature Torque Mode
Application Examples In Analog Torque Mode the drive develops a torque

command in proportion to the the voltage (10 VDC)
PLC pulse command outputs
received in the Analog Input. Note: Analog full scale voltage
Electronic gearing
Operating Modes
and offset are programmable.

Stepper drive replacement
Epsilon
Web line ratio control

Application Examples
With Position/Velocity Controller
Velocity Mode
Tension Control
Analog In Analog Velocity Mode the drive develops a
velocity command in proportion to the voltage (10 VDC) Flexible I/O Functionality
received on the Analog Input. Note: Analog full scale voltage
The digital I/O of the drive is completely programmable
and offset are programmable.
with the ability to map one or more I/O functions to the
Preset Velocity In this mode one of up to eight digital
I/O points.
velocities can be selected using the digital I/O or Modbus.
Each preset has its own accel/decel ramps.
Application Examples
Input Functions Output Functions
Clutch-brake replacement
Stop Drive OK
Phase control with a differential
Reset At Velocity
Automatic feed control for machining operations
Travel Limit (+) Travel Limits (+)
Spindle speed control
Travel Limit (-) Travel Limits (-)
Torque Limit Enable In Motion (+)
Velocity Summation This mode combines the features Torque Mode Enable In Motion (-)
of Analog Velocity and Preset Velocity in one mode. It allows
Velocity Presets Power Stage Enabled
running a preset velocity and trimming it with an analog
input, or vice versa, allowing advanced applications to be Brake Release Torque Limit Active
solved simply and elegantly without complex controllers. Brake Control Velocity Limiting Active
Fault
Application Examples Brake
Loop/dancer arm control Shunt Active
Phase advance/retard Torque Level 1 & 2 Active
Speed trimming Foldback Active

Chapter 6 4/3/05 9:20 am Page 133
Epsilon Ei
Indexing Drive
The Epsilon Ei offers user units, indexing, homing and jogging,
and additional I/O in a package that is the same compact size
as the base Eb. Operating information is setup via a PC.
These setup parameters are easily entered and stored with
the use of our Windows-based PowerTools-FM software.
The setup can be downloaded, stored on disk or printed out
for documentation.
User Units
Using PowerTools FM, the Ei is easily programmed. Homing,
Jogs and Indexes are set up using engineering units.This allows
INDEXING
Indexing Drive
for an easy translation of motor revolutions to rotary, linear or
Epsilon
other units. The Epsilon Ei drive is easily programmed to meet a wide
variety of indexing requirements, either using our PowerTools
FM software or with a Modbus Master. Sequencing multiple
Programmable I/O indexes is possible using the chaining command.
12 optically-isolated inputs
16 indexes Incremental, Absolute, Registration, Rotary
7 optically-isolated outputs Plus, and Rotary Minus index types
16 indexes Parameters for Distance,Velocity, Accel/Decel, Dwell and

Registration to Sensor or Torque Levels
Chaining index capability
Chain indexes to home Chaining Options Counts, Repeat Counts, Repeat Forever,
Stop, Start Next Index, Wait for Run Next Input Function
Jogging and Homing
2 jog velocities
Homing
Home to sensor
Home to marker
Home to sensor then marker
User Units
Distance
Velocity
Time Scale
Acceleration

Chapter 6 4/3/05 9:20 am Page 134
JOGGING
The jogging function is comprised of two velocities with
separate accel/decel ramps programmed in user units.
Inputs: Jog +, Jog -, Jog Fast
Parameters for Jog Velocity, Jog Fast Velocity,
Accel and Decel
Jogging; Homing; Flexible I/O Functionality
Epsilon
FLEXIBLE I/O FUNCTIONALITY

The digital I/O of the drive is completely programmable with
HOMING the ability to map one or more I/O functions to the I/O points.
The Homing feature set in the Ei is extensive.The parameters
available give the user added flexibility and simplify setting
homing functions. Input Functions Output Functions
Home to Sensor, Marker, Sensor & Marker Index Initiate

Index Select 0
Absolute Position Valid
End of Index
If on Home sensor, then back off before homing, go Index Select 1 End of Index Motion
forward to next sensor
Index Select 2 End of Index Count
Home Offset distance relative to sensor/marker Index Select 3 End of Chaining Counts
Run Next Index Registration Limit Distance Hit
Parameters for Velocity, Accel, Decel, Home Offset, Home Initiate Home Limit Distance Hit
End-of-Home Position and Limit Distance
Home Sensor End of Home
Chain to Index Number Define Home At Velocity
Stop In + Motion
Jog + In - Motion
Jog - Drive OK
Jog Fast Fault
Travel Limit + Brake
Travel Limit - Travel Limit +
Brake Control Travel Limit -
Brake Release Foldback Active
Reset Shunt Active
Registration Sensor 1 Torque Limit Active
Registration Sensor 2 Power Stage Enabled
Torque Limit Enable Torque Level 1 Active
Torque Level 2 Active
Index In Position

Chapter 6 4/3/05 9:20 am Page 135
Epsilon Ei-DN
Indexing with DeviceNet
Small size and large functionality makes
the Epsilon Ei-DN a natural fit in any
DeviceNet related motion application.
The Ei-DN retains the same footprint
as the Ei and now uses Polled I/O and
Explicit Messages to change or initiate
any user parameter in the drive via
DeviceNet. Choose between any one of
four pre-defined DeviceNet word setups.
Index Select Pre-defined
Indexing with DeviceNet

Change the nature of the pre-configured assembly blocks by
(Static DeviceNet Word Block, simply changing the mapping of the DN bits.The DN Bits are
Epsilon
full Ei features) user defined bits that can have different I/O functions mapped
Index Select User-defined to them.
(Dynamic DeviceNet Word Block, When online, with
full Ei features) PowerTools FM, the online
DeviceNet tab gives the
Index Type user a view of the
(Position Control with Ei functionality)
actual data that is being
Position Control sent and received through
(Position Control only) the DeviceNet network.
Watch functions turn on
and off over DeviceNet in
Supports Explicit Messaging PowerTools FM. Look at
Polled (8 bytes in, 8 bytes out)* transmit and receive
Access to all Motion Parameters within message counters, check
the established connections,
Polled I/O
even look at the current
Up to 63 devices per network baud rate, MacID and
Baud Rate (125k, 250k, 500k) and MacID Master MacID.
configurable via PowerTools FM or the
one-touch reset button
Module and Status LEDs located on

the front of the drive
25 milliamp DeviceNet draw

Easy 5-wire terminal block for
DeviceNet connection
*In and Out refers to PLC Inputs and Outputs

Chapter 6 4/3/05 9:20 am Page 136
TERMINAL DIAGRAM & DESCRIPTION
Serial (J4) Power (J1)

Pin Number Signal Pin Number Signal
3 RS-232 TX L1 AC Input L1
2 RS-232 RX L2 AC Input L2
6 Serial +5VDC PE PE
5 Serial 0V Common Bus + DC Bus +
4 RS-485+ Bus - DC Bus -
9 RS-485- Motor R Motor Power R
1 Shield Motor S Motor Power S
7,8 No Connect Motor T Motor Power T
Motor Power Earth
A.P.S. + Logic Supply Backup +24VDC
DeviceNet (Ei-DN Only) A.P.S. Logic Supply Backup
0V Common
Terminal Diagram & Description
Pin Number Signal

1 V-
2 CAN_L Digital I/O (J3)
3 Drain Pin Number Signal
Epsilon
4 CAN_H
1 Input 1
5 V+
11 Input 2
2 Input 3
12 Input 4
Command (J5) 3 Input 5*
Pin Number Signal 13 Input 6*
4 Input 7*
15 Analog Command In +
14 Input 8*
14 Analog Command In - DeviceNet
Connector
5 Input 9*
8 Encoder Out A
(Ei-DN Only) 15 Input 10*
9 Encoder Out A/
6 Input 11*
23 Encoder Out B
16 Input 12*
24 Encoder Out B/
10 Drive Enable
37 Encoder Out Z
19 I/O Supply +
38 Encoder Out Z/
20 I/O Supply 0V
27 Pulse In A
7 Output 1
41 Pulse In A/
17 Output 2
26 Pulse In B
8 Output 3
40 Pulse In B/
18 Output 4*
25 Pulse In Z
9 Output 5*
39 Pulse In Z/
25 Output 6*
20 Pulse In A (single ended)
26 Output 7*
36 Pulse In B (single ended)
21-24 No Connect
16 I/O Input Drive Enable
1 I/O Input 1 *Indexing Versions Only
2 I/O Input 2
3 I/O Input 3 Feedback (J7)
4 I/O Input 4
19 I/O Output 1 Pin Number Signal
18 I/O Output 2 1 Motor Encoder A
17 I/O Output 3 10 Motor Encoder A/
33 I/O Supply + 2 Motor Encoder B
34 I/O Supply + 11 Motor Encoder B/
31 I/O Supply 0V 3 Motor Encoder Z
32 I/O Supply 0V 12 Motor Encoder Z/
29 Analog Out 0V 4 Motor Commutation U
43 Analog Out Channel 1 + 13 Motor Commutation U/
44 Analog Out Channel 2 + 5 Motor Commutation V
11 External Encoder +5VDC Power 14 Motor Commutation V/
12 External Encoder Common 6 Motor Commutation W
28 +15V Power Out (10 mA) 15 Motor Commutation W/
6 RS-485 + 7,8 Encoder +5VDC Supply
21 RS-485 - 17 Encoder 0V Common
5, 7, 10, 13, No Connect 9 Motor OverTemp
22, 35, 30 ,42 16,18-26 No Connect

Chapter 6 4/3/05 9:20 am Page 137
DIMENSIONS (mm)
151.4 5 Amp Model

136.9 90.4 6.4
132.3 50.8 side clearance
53.3 for heat sink
5.08
30.1
26.4
5.6
76.2
RATINGS
TIA Cable
& CO422
(optional) EPSILON Output Output
196.8 rms Peak(A)
A 4s
210 181.6
202 1.8 3.6
DDS (optional) 203 3 6
DDS, Term-H, Term-T
(optional) 205 5 10
Dimensions; Specification; Ratings

I/O Cable (optional)
4.8
19.05
88.9 14.2
Epsilon
46.7 11.4 30.5
Cable 46.9 E - 202/3 11.4
Clearance E - 205 17.8
SPECIFICATION Drive Control Outputs

Analog: +/-10VDC, 10 bit, Single-
Power Requirements
ended 20mA
AC Input Voltage 1, 90 to 264 VAC, 47 - 63 Hz (240 VAC
Digital: +10 to 30VDC, 150mA,
for rated performance)
Sourcing Optically Isolated
Switching Frequency 20 kHz
Pulse: Differential RS-422 and TTL
Logic Supply Internal compatible,20mA/Channel Sink or
Source
Auxiliary Logic Supply +18 to 30 VDC @ 0.5A
I/O Supply: +10 to 30 VDC
Encoder Supply Output +5 VDC, 250 mA
Environmental
System Efficiency 93%
Cooling Method Epsilon 202-205: Convection Rated Ambient Temperature: 0 to 40C for rated performance
Maximum Ambient Temperature: 0 to 50C with power derating
of 3.5%/ 1C above 40C
Regeneration
Rated Altitude: 1000m
Internal Energy Absorption Epsilon 202/3: 41 Joules
Maximum Altitude: For altitudes > 1000m derate
(115V) Epsilon 205: 113 Joules
output by 1%/ 100m
Internal Energy Absorption Epsilon 202/3: 18 Joules
Vibration: 10 to 2000 Hz @ 2g
(230V) Epsilon 205: 48 Joules
Humidity: 10 to 95% non-condensing
External: Connection to RSR-2 with external resistor,
Storage Temperature: -25 to 75C
20 Ohm min, 15 Arms, 2kW
Ingress Protection: IP20
Serial Interface
Drive Control Inputs
RS232/RS485 Modbus RTU w/
Analog: +/-10VDC, 14 bit, 100kOhm,
32-bit extension 9600 to 19.2 kBaud
Differential Analog Max. Input Rating:
Internal RS232 to RS485
Differential +/-14 VDC, Each Input with
Converter
Reference to Analog Ground +/-14VDC
Drive Weight
Digital: +10 to 30 VDC, 2.8kOhm, Sourcing,
Epsilon 202/3 1.5 kg
Optically Isolated
Epsilon 205 1.7 kg
Pulse: Differential Rs-422, 2MHz/Channel,
DeviceNet (Optional)
50% Duty Cycle
Power Consumption: 25mA
Single Ended: TTL Schmitt Trigger 1MHz/Channel, 50%
Baud Rates: 125, 250 and 500kpsNode
Duty Cycle
Addresses: 00-63 Messaging: Explicit and
Motor Overtemperature: 0 to +5VDC, 10kOhm, single ended Polled I/O

Chapter 6 4/3/05 9:20 am Page 138
Unimotor EZ SPECIFICATION
Standard motors have UL and CAN/CSA recognised
OVERVIEW Insulation System to class.The CTD/IS/2000/01 insulation
system number on the motor number plate, together with the
The Unimotor EZ range has been developed following
symbol, denotes this. Earlier motors may display this
extensive research and testing of thermal dynamic theories
information on a separate label on the rear cover.
and practices.
If the UL symbol has E215243 underneath, then this indicates
This range is compatible with Epsilon and available in 3 frame full motor recognition.
sizes 55*; 75; 95; in a unique and instantly recognisable finned
Machinery Directive 89/392/EEC amended to 98/37/EC
design that offers extra strength, rigidity and thermal
performance.These are important features for high
performance servo systems. EN 60034 General requirements for rotating electrical
machinery
PERFORMANCE MATCHED MOTORS EN 60034-1 Duty: S1 Continuous
EZ Series Brushless AC Servo Motors Storage:-15 to 40 Operating: Min ambient 0C;
Overview; Specification
max ambient 40C

Unimotor EZ
The EZ series delivers excellent motor speed control and Less than 1000m altitude
highly accurate positioning capability demanded by automated Relative humidity: 90% Non condensing
machinery industries.
EN 60034-5 Degree if Ingress protection: IP65S
The EZ series of motors provide high torque with (with mating connector & cable fitted)
minimal cogging torque. Incremental encoder feedback and EN 60034-6 Method of cooling: free circulation,
commutation results in excellent speed and position free convection
control.The use of specially developed coil wire gives ultimate EN 60034-7 Flange mounted: horizontally or vertically
reliability and quality. All these design criteria combined with EN 60034-8 Terminal markings: U V W
high energy magnets mean EZ motors performance is EN 60034-11 Thermal protection: PTC thermistor,
truly dynamic. 165C TP111 (Not SL variants)
EN 60034-18 Insulation system: Class H 600V,
UL number E214439
EN 60072 Dimensions and output for rotating
electrical machines
EN 60072-1 Type N (Customer variants)
Equipment is not deemed suitable for use in an
explosive atmosphere.
This product has been designed to be operated with Control
Techniques drives and must not be put into service unless the
machinery into which it is to be incorporated has been declared
in conformity with the provisions of the machinery directive.
Motor Power Cable Motor

Ei-202
Drive
R E ET
S
J2
SERIAL
J3
I/O
Feedback Cable
J5 J6
55EZ frame motors supplied with

(Drive Base) 400mm flying leads with open ends.
75EZ-95EZ frame motors are connectorised.

Chapter 6 4/3/05 9:20 am Page 139
DIMENSIONS (mm) EZ55* Frame Sizes EZ 75 - 95
C (REF) N A (MAX)
ENCODER POWER
F SIGNAL
N CONNECTOR
5.00 D POWER
CONNECTOR
K P
C (REF) UNIMOTOR UM
DANGER
High Voltage
CAUTION
This machine runs hot K
D k6 E
DO NOT USE
COVER FOR LIFTING
2.00 P
F
4 HOLES 'H'
C A EQUI-SPACED ON
A 'J' P.C.D.
E P 75.0
4 HOLES 'H'
EQUI-SPACED ON
A 'J' P.C.D.
* EZ55 is not of the same finned design as the 75, 95
Ref Description 55A 55B 55C 75B 75C 75D 95B 95C
A Length overall (unbraked) 126 159 189 241 271 301 252 282
A Length overall (braked) 141 171 201 271 301 331 282 312
Dimensions; Ratings
Unimotor EZ
C Flange Square 55 55 55 75 75 75 95 95
D Flange Thickness 5 5 5 7 7 7 9 9
E Register Diameter 40 (J6) 40 (J6) 40 (J6) 60 (J6) 60 (J6) 60 (J6) 80 (J6) 80 (J6)
F Register Length 2 2 2 2.4 2.4 2.4 2.9 2.9
H Fixing Holes Diameter 4.5 4.5 4.5 5.8 (H14) 5.8 (H14) 5.8 (H14) 7 (H14) 7 (H14)
J Fixing Hole p.c.d 63 63 63 75 75 75 100 100
K Overall Height 73 73 73 126 126 126 146 146
N Shaft Length (front) 20 23 23 30 30 30 40 40
P Shaft Diameter (front) 9 11 11 14 14 14 19 19
RATINGS
Unimotor EZ for 3 phase drives Stall torque; stall current; Kt; Ke; rated torque and power
relate to maximum continuous operation in a 400C ambient
200 - 240 VAC and Encoder Feedback
t = 100C, All data subject to +/-10% tolerance
40C ambient
Motor Frame Size (mm) 55 75 95
All Speeds Frame Length A B C B C D A B C
Continuous Stall Torque (Nm) 1.2 2.2 3.1 2.2 3.1 3.9 2.3 4.3 5.9
Peak Torque (Nm) 3.6 6.6 9.3 6.6 9.3 11.7 6.9 12.9 17.7
High Inertia (kgcm2 ) 1.2 1.6 2.1 1.6 2.1 2.5 3.5 4.5 5.6
2
Standard Inertia (kgcm ) 0.6 1.0 1.5 1.0 1.5 1.9 1.4 2.5 3.6
Weight (kg) 3.0 3.7 4.4 3.7 4.4 5.1 5.0 6.1 7.2
Winding Thermal Time Const.(sec) 81 74 94 74 94 100 172 168 183
Maximum Cogging (Nm) 0.02 0.03 0.04 0.03 0.04 0.05 0.03 0.06 0.08
Rated Speed 2000 (rpm) Kt (Nm/A) 1.22
Ke (NOM ) = 85.5 V/krpm Ke (V/krpm) 75
Rated Torque (Nm) 1.1 2.1 3.0 2.1 3.0 3.8 2.2 4.0 5.5
Continuous Stall Current (A) 1.0 1.8 2.5 1.8 2.5 3.2 1.9 3.5 4.8
Rated Power (kW) 0.23 0.44 0.63 0.44 0.63 0.80 0.46 0.84 1.15
R (ph-ph) (Ohms) 45.8 15.3 8.52 15.3 8.52 5.72 19.4 6.2 3.16
L (ph-ph) (mH) 98.8 43.4 27.9 43.4 27.9 20.2 59.2 25.8 16.0
Ke (NOM) = 57 V/krpm Ke (V/krpm) 49.9
Rated Torque (Nm) 1.1 2.0 2.8 2.0 2.8 3.5 2.0 3.9
Continuous Stall Current (A) 1.5 2.7 3.8 2.7 3.8 4.8 2.8 5.3
Rated Power (kW) 0.35 0.63 0.88 0.63 0.88 1.10 0.63 1.23
R (ph-ph) (Ohms) 18.9 6.26 3.50 6.26 3.50 2.38 8.03 2.68
L (ph-ph) (mH) 42.5 18.4 11.9 18.4 11.9 8.82 25.6 12.0
Ke (NOM) = 44.0 V/krpm Ke (V/krpm) 38.5
Rated Torque (Nm) 1.0 1.7 2.3 1.7 2.3
Continuous Stall Current (A) 1.9 3.5 4.9 3.5 4.9
Rated Power (kW) 0.42 0.71 0.96 0.71 0.96
R (ph-ph) (Ohms) 10.2 3.39 1.92 3.39 1.92
L (ph-ph) (mH) 24.6 10.8 7.14 10.8 7.14
55 Frame motor is not UL approved

Chapter 6 4/3/05 9:20 am Page 140
EPSILON AND UNIMOTOR EZ SELECTION

Epsilon Epsilon Stall Peak Stall Rated Inertia Weight
Motor Torque Torque Current Speed kgcm2 (no brake)
Model Amps
Nm Nm amps rpm kg
55EZA500 Eb/Ei-202 1.8 0.65 1.9 1.4 5000 0.12 1.1
55EZB500 Eb/Ei-203 3 1.1 2.8 2.3 5000 0.22 1.6
55EZC500 Eb/Ei-203 3 1.4 2.8 3 5000 0.32 2
75EZB400 Eb/Ei-203 3 2.1 4.2 3 4000 1 3.7
75EZC300 Eb/Ei-203 3 2.7 5.5 3 3000 1.5 4.4
55EZB500 Eb/Ei-205 5 1.1 4.4 2.3 5000 0.22 1.6
55EZC500 Eb/Ei-205 5 1.4 4.8 3.0 5000 0.32 2
75EZD400 Eb/Ei-205 5 3.5 7 5 4000 1.9 5.1
95EZB300 Eb/Ei-205 5 4.2 9.3 4.5 3000 2.5 6.1
Drive Motor Selection; Speed Torque
Epsilon & Unimotor EZ
95EZC300 Eb/Ei-205 5 4.6 9.3 5 3000 3.6 7.2

All performance data has a tolerance of 10%
Characteristics
SPEED TORQUE CHARACTERISTICS

55EZA00 with Epsilon Eb/Ei 202 55EZB500 with Epsilon Eb/Ei 203 & 55EZC500 & Epsilon Eb/Ei 203 & Eb/Ei 205
5
2.0 Eb/Ei 205 Peak Limit` Eb/Ei 205 Peak Limit 5 Eb/Ei 205 Peak Limit
1.8
4
Torque (Nm)
1.6
Torque (Nm)
4
Torque (Nm)
1.4
3 Eb/Ei 203 Peak Limit
1.2 3 Eb/Ei 203 Peak Limit
1.0
Intermittent Torque 2 Intermittent Torque Intermittent Torque
0.8 2
0.6
0.4 1 1
Continuous Torque Continuous Torque Continuous Torque
0.2
0 0 0
0 1000 2000 3000 4000 5000 6000 7000 0 1000 2000 3000 4000 5000 6000 7000 0 1000 2000 3000 4000 5000 6000 7000
75EZB400 with Epsilon Eb/Ei 203 75EZC500 with Epsilon Eb/Ei 203 75EZD400 with Epsilon Eb/Ei 205
5 6 Eb/Ei 203 Peak Limit
Eb/Ei 203 Peak Limit 7
Eb/Ei 203 Peak Limit
4 5 6
Torque (Nm)
4 5 Intermittent Torque
Torque (Nm)
Torque (Nm)
3
Intermittent Torque Intermittent Torque 4
3
2 3 Continuous Torque
2
Continuous Torque Continuous Torque 2
1
1
1
0 0 0
0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 0 1000 2000 3000 4000 5000
95EZB500 with Epsilon Eb/Ei 205 95EZC300 with Epsilon Eb/Ei 205
10 10 Eb/Ei 205 Peak Limit
Eb/Ei 205 Peak Limit
9 9
Torque (Nm)
8 8
Torque (Nm)
7 7
6 6
5 Intermittent Torque 5
4 4 Intermittent Torque
3 3
2 Continuous Torque 2
1 1 Continuous Torque
0 0
0 1000 2000 3000 4000 0 1000 2000 3000 4000
All performance data listed above has a +/- 10 tolerance and is subject to change at any time without notice.

Chapter 6 4/3/05 9:20 am Page 141
Unimotor EZ Power Cable selection

Length Numbers represent the required cable length in metres. Conversion cables will be limited to 0.4m only and the length

is not required in the order code.
Unimotor EZ
PS B A A A 015
2
D * - 10.0 mm2 52A
E * - 16.0 mm2 70A
Drive End Motor End

C
X Cut end


Chapter 6 4/3/05 9:20 am Page 142
Unimotor EZ Signal Cable selection

Unimotor EZ
SI B A A A 015

0.4m for DS to DM
Conversion cable
Drive End Motor End

K RJ45 connector
X Cut end

Chapter 6 4/3/05 9:20 am Page 143

Unimotor EZ

Chapter 6 4/3/05 9:20 am Page 144
MAx and Unimotor

AC Servo drive 1Nm to 20Nm
OVERVIEW
Historically, advances in servo technology have been incremental
steps rather than giant leaps.The MAx with
has changed all that. MAx redefines totally what a user can -
and should - expect from a servo system, in terms of installation
costs, set-up times, axis performance and dependability. By
achieving substantial improvements in all of these crucial areas,
MAx provides the machine builder with a simple, powerful and
cost effective way of improving the competitiveness and
performance of any machine......
Overview; Feature Performance
Its an edge that will make all the difference to your machines
in ultra competitive global markets.
FEATURE PERFORMANCE
MAx
MAX SERVO CONTROLLER ...1 Easy Start Up with automatic

Digital clarity with (2.5Mbaud, motor mapping
4 wire system)
High resolution feedback 8.3M counts Easy Start
per revolution)
MAxs Automatic Motor Mapping sets itself and gets you
Lower cabling requirements - 4 core cable going in minutes... No longer do you need to worry about
Advanced SinCos encoders as standard determining and programming the motor type, current, phase
Motion controller compatible angle, inertia, Kt, Ke etc. It is automatic, immediately at power
Servo specification up, even without the need for a PC, thereby ensuring a
Compact design trouble free and fast start up - Easy Start!
380 to 480V+/-10%
Tuning Is Easy With MAxs Gains Calculator...
From 3.5 to 12.5A, 200% overload
Only 62mm wide One step keypad programming calculates the PID gains and
Easy start - automatic motor mapping gets you running. Better still, if you know your machinery
Internal braking resistor inertia then simply dial it in and one step recalculates the
DC Bus running optimal gains for best running.
Reduced DC Bus running
With A PC It Is Even Easier With MAxSoft...
12 digital I/O
Back up supply MAxSoft is a windows based drive set-up program that is
Gains calculator designed to enable the complete control and display of all
CE and UL listed parameters within MAx.
Also operates in Stand alone mode
16 bit high precision +/-10V input
F&D, CW/CCW and Quadrature input
2 analog outputs
Simulated encoder output (200-16384ppr)
Communications port
1: 200
00
0
ISO 9
AL
AP
P ROV E171230

Chapter 6 4/3/05 9:20 am Page 145
...2 Total System Costs Reduced! ...3 Highest Resolution Feedback

Perfect feedback at an affordable price level!
Reducing wiring in the feedback loop - 4 wire system Advanced SinCos encoders are standard and with
offers significant advantage over the conventional encoder
the sensitive signals are processed
requiring 14 wires
at source to produce the highest resolution in digital form
Reducing cubicle size - MAx is compact, only 63mm Digital clarity is maintained by use of high speed serial link
wide, the minimum of machinery space required for
(2.5Mbaud, 4 wire system) to interface between the drive
multi axes installation
and motor - supports cable runs of up to 50 metres with
Reducing AC supply connections as MAx can be DC high level of noise immunit. Cos
Sin
supply fed in parallel connection
MAx feedback is "intelligent" and
Reducing cabling as motor thermistors are no longer enables vital dataflow between the
motor, drive and also host motion
required - MAx offers intelligent thermal modelling for
accurate and reliable protection of the motor controller if required. For example
Feature Performance
condition monitoring of motor
Interpolated
Conventional Servo Wiring = 32 Connections temperature, performance data and position
MAx
many more control parameters.
...4 Higher Performance and Precision

4
4 for optional serial comm
6 Superb precision performance is standard thanks to the

Motor E
14 Servo encoder simul.
Motion revolutionary ! MAxs feedback
Drive Controller
provides 8.3 million points per revolution for the speed loop
control. With this high resolution we are able to track the
4
4 10V ref. + enable + gnd smallest deviation and work with gains that do not reach the
MOTOR + EARTH threshold of instability.The result is high dynamic response
with good motion regularity and ultra smoothness in rotation.
MAx can give your machinery that extra competitive edge
through improved machinery performance!
The graphic below shows how
MAx Servo Wiring = 12 Connections
makes the difference for a hole cutting machine. In 1 minute -
Higher productivity, cuts faster, better accuracy and quality
Motor E
(roundness) is up fourfold.
4
4 With
4 With Conventional Servo
MOTOR + EARTH MC Series Motion
gy
Controller or other
lo
no
ch
te
comaptible Motion Controller

MAx
Roundness 50m Roundness 200m

Chapter 6 4/3/05 9:21 am Page 146
For the ultimate interpolated multiaxes performance, control

...5 Tomorrows technology today loops are deterministic and synchronised to give the lowest
jitter in the industry - of 50 nanoseconds. As well as being a
performance enhancer now, is also a
gateway to the future. Its integration into PC-based motion
systems opens up a whole new vista for optimised multi axes
The uses a combination of Control control in the new future.
Techniques 4-wire, ASIC and motor-mounted SinCos encoders Your Control Benefits
to achieve an application invariant 20-fold increase in position
feedback resolution (over 8.3 million points per revolution).
Perfect trajectory following - high resolution feedback
This is achieved by integrating speed & position control within Perfect linearity on velocity feed forward
the feedback system on-board the servomotor. As a result, the Perfect dynamic response on acceleration feed forward
is able to overcome the degradation in
performance experienced with encoder feedback signals when
High control loop bandwidth to achieve sub micron
precision on position
synchronising multiple servo axes on machines as operating
Feature Performance
speeds increase. Reduced machine vibration - ultra smooth operation

MAx
Traditional Servo Supported

10V & MAx offers
Encoder Simulation 12 Menus Standalone
TECHNOLOGY ~10-14 wire
MAx
2.5 M baud 4 wire 2.5 M Baud SERIAL
SERIAL
+24V
0V +24 V
gy
lo
Motion POWER STAGE
no
ch
0V
te
Controller 4 wire
MAx
Compatible
Host
U VWE
4 wire (power)
Dataflow Chart NOITUA C

REGNAD
egatloV hgiH
ESU TON OD
GNITFIL ROF REVOC
Communications Protocol - Fundamental Cycle
Channel 1 Channel 4 Channel 3 Channel 2

Data Frame
Host can request
This slot is configurable by Host system parameter
information
Host Position Parameter Parameter
Transmission Demand Passing Passing
SLM Position PWM PWM Parameter Parameter

Transmission Feedback Demand Demand Passing Passing
Drive Drive
Transmission Status
Position Current Demand Parameter Passing Parameter Passing

23s 45s 34s 23S
Cyclic Data Non-Cyclic Data
CYCLE TIME 125s

Chapter 6 4/3/05 9:21 am Page 147
RATINGS
Electrical Data
Output Current External RFI Filter (IP20) Internal Braking Resistor
Complies with EN50081/1 or 2
Max Power Operating Peak Current Peak Max.Cont
Continuous Peak Current Part Dissipation L W D Value Voltage Amps Power Braking Power
Amps Amps (2sMax) Number (w) (mm) (mm) (mm) (V) (A) (kW) (W)
M'Ax 403 3.5 7
M'Ax 406 6.5 13
4200-1645 6 250 45 70 75 780 10.9 8.9 125
M'Ax 409 9.5 19
M'Ax 412 12.5 25
Supply Voltage 380 - 480V 10% (47.5 to 63Hz) Relative humidity: 95% non-condensing
Rated ambient 45C (up to 55C with derating)
Altitude: derate above 1000m
Ratings;Terminal Diagram
MAx
TERMINAL
DIAGRAM MAx Servo drive

Chapter 6 4/3/05 9:21 am Page 148
MAx

Chapter 6 4/3/05 9:21 am Page 149
SPECIFICATION
Digital I/O Back-up Power Supply

Opto-isolated 24 VDC for encoder
Eight digital inputs 28/32 VDC for drive logic suitable for standby, evacuation
Four digital outputs system - reduced dc bus running
24 V user supply
Standalone
Frequency & direction or quadrature inputs
16 bit High precision 10 V differential (if keypad fitted)
Keypad and user back up supply
7 segment removable display 24 V user supply
Memory Pad stores
identical set of parameters Simulated Encoder
Encoder quadrature A, B plus Zmarker-pulse outputs
Specification
for easy upload
MAx
16 bit high precision, 10 V differential (up to 16,384ppr)
Two analogue outputs
Compact Design Standard-precision analogue differential reference input (12 bit)
One size for the range 3.5 to 12.5 Amps
Protection to IP20 Communications Port
Only 62 mm wide RS232 RS485 ANSI 3.28/Modbus RTU
DC Bus Braking
Can be supplied from a common Standard internal resistor failsafe design
DC power supply in parallel with Electronic I2t protection for internal braking resistor
other models External resistor connectable
Reduced DC bus running with drive
backup supply
Easy Start
Automatic motor mapping
Gains calculator
MaxSoft with Wizard
Electronic Thermistor
Intelligent thermal modelling
Accurate monitoring and protection Practical Grounding Bar
Serial data link employed and Cable Support
NO need for thermistor in motor
Pluggable terminals for
and NO extra cabling requirements
- mains supply
- motor power
Advanced Feedback - external braking resistor
SinCos encoder as standard
Earthing clamps for motor
Reduced cabling 4 wire system up to 50 metres
cable screen
Intelligent capability
High resolution (8.3 million points per revolution)
1: 200
00
0
ISO 9
AL
Digital Drive AP
P ROV

Chapter 6 4/3/05 9:21 am Page 150
DIMENSIONS (mm) Drive Setup Wizard

A drive setup wizard reads the motor data from the module
Dynamic braking can be selected and wiring is shown for
internal or external braking
247 mm
Speed input reference options are shown pictorially, enabling
the user to visualise their selection
Drive feedback is shown pictorially and allows analogue

outputs to be set along with Simulated Encoder output
330 mm
Load inertia and drive stiffness can be entered and sent to the
drive which calculates PID values for the gain selector
A backup power supply can be selected and configured

360 mm
Help is provided for each step in the setup wizard
Dimensions; Options
293 mm
MAx
50 mm
62 mm
OPTIONS
MAx Soft
MAxSoft is a Windows based drive set-up program that is
designed to enable the complete control and display of all
parameters within a MAx drive. MAxSoft provides the user
with a graphical interface that is logically split into a series of
screens, offering the quick and easy viewing and where
appropriate editing of a parameter value. Individual detailed
parameter information can at any time be displayed defining
the parameters function, type and min/max permitted value.

Chapter 6 4/3/05 9:21 am Page 151
Unimotor SPECIFICATION
Standard motors have UL and CAN/CSA recognised Insulation
OVERVIEW System to class.The CTD/IS/2000/01 insulation system number
on the motor number plate, together with the symbol, denotes
The version of Unimotor is fitted with
this. Earlier motors may display this information on a separate
electronic feedback that operates with
label on the rear cover.
Control Techniques MAx and MultiAx drives.This motor-drive
combination offers extremely high resolution, for superb If the UL symbol has E215243 underneath, then this indicates
system speed control. High resolution is essential for many full motor recognition.
system applications where speed and position errors must Machinery Directive 89/392/EEC amended to 98/37/EC
be minuscule. Low Voltage Directive 73/23/EEC
The feedback comprises of Sincos encoder and electronics, EN 60034 General requirements for rotating electrical
both contained within the standard Unimotor body.The machinery
encoder has a memory programmed with all the essential EN 60034-1 Duty: S1 Continuous
motor characteristics necessary to automatically set all MAx
Overview; Specification
Storage: -15 to 40C Operating: Min ambient
parameters, giving an instant Plug and Play capability. 0C; max ambient 40C
The Unique finned design improves heat dissipation, and with Less than 1000m altitude
Unimotor
its single piece design optimises torque output and reduces Relative humidity: 90% Non condensing
cogging torque.The compact design gives additional EN 60034-5 Degree if Ingress protection: IP65S (with
torsional stiffness. mating connector & cable fitted)
Laminations and coils are optimised to give high efficiency and EN 60034-6 Method of cooling: free circulation,
low harmonic distortion. All this combined with high energy free convection
magnets and a choice of rotor inertia, give Unimotor truly
EN 60034-7 Flange mounted: horizontally or vertically
dynamic performance to suit all applications.
EN 60034-8 Terminal markings: U V W
EN 60034-11 Thermal protection: PTC thermistor,
165C TP111 (Not SL variants)
EN 60034-18 Insulation system: Class H 600V, UL number
E214439
machines
Equipment is not deemed suitable for use in an explosive
atmosphere.
This product has been designed to be operated with Control
Techniques drives and must not be put into service unless the
machinery into which it is to be incorporated has been declared
in conformity with the provisions of the machinery directive.

Chapter 6 4/3/05 9:21 am Page 152
DIMENSIONS (mm)
C N A (MAX)
F SIGNAL
CONNECTOR
D POWER
CONNECTOR
C DANGER CAUTION
K E P 75.0
High Voltage This machine runs hot
UNIMOTOR UM
DO NOT USE
COVER FOR LIFTING
4 HOLES 'H'
EQUI-SPACED
ON A 'J' P.C.D.
P
Unimotor
Dimensions
Ref Description 75A 75B 75C 75D 95A 95B 95C 95D 95E 115A 115B 115C 115D 115E 142A 142B 142C 142D
A Length overall (unbraked) 211 241 271 301 222 252 282 312 342 242 272 302 332 362 225 255 285 315
A Length overall (braked) 241 271 301 331 252 282 312 342 372 272 302 332 362 392 285 315 345 375
C Flange Square 75 75 75 95 95 95 95 95 115 115 115 115 115 115 142 142 142 142
D Flange Thickness 7 7 7 7 9 9 9 9 9 11 11 11 11 11 12.3 12.3 12.3 12.3
E Register Diameter (J6) 60 60 60 60 80 80 80 80 80 95 95 95 95 95 130 130 130 130
F Register Length 2.4 2.4 2.4 2.4 2.9 2.9 2.9 2.9 2.9 2.9 2.9 2.9 2.9 2.9 3.4 3.4 3.4 3.4
H Fixing Holes Diameter (H14) 5.8 5.8 5.8 5.8 7 7 7 7 7 10 10 10 10 10 12 12 12 12
J Fixing Hole p.c.d 75 75 7.5 75 100 100 100 100 100 115 115 115 115 115 165 165 165 165
K Overall Height 126 126 126 126 146 146 146 146 146 166 166 166 166 166 193 193 193 193
N Shaft Length (front) 23 30 30 30 30 40 40 40 40 40 40 40 50 50 50 50 50 5040
P Shaft Diameter (front) 11 14 14 14 14 19 19 19 19 19 19 19 24 24 24 24 24 24

Chapter 6 4/3/05 9:21 am Page 153
PERFORMANCE DATA
Unimotor servo motor technical specification For 3 Phase VPWM Drives 380 - 480Vrms
Stall torque; rated torque and power relate to maximum
Unimotors with Encoder Feedback continuous operation in a 400C ambient
Motor Frame Size (mm) 75 95 115 142

All Speeds Frame Length A B C D A B C D E A B C D E A B C D
Continuous Stall Torque (Nm) 1.2 2.2 3.1 3.9 2.3 4.3 5.9 7.5 9.0 3.5 6.6 9.4 12.4 15.3 6.3 10.8 15.3 19.8
Peak Torque (Nm) 3.6 6.6 9.3 11.7 6.9 12.9 17.7 22.5 27.0 10.5 19.8 28.2 37.2 45.9 18.9 32.4 45.9 59.4
2
High Inertia (kgcm ) 1.2 1.6 2.1 2.5 3.5 4.5 5.6 6.7 7.8 9.7 12.0 14.3 16.6 18.8 21.6 28.0 34.3 40.7
2
Standard Inertia (kgcm ) 0.6 1.0 1.5 1.9 1.4 2.5 3.6 4.7 5.8 3.2 5.5 7.8 10.0 12.3 7.8 14.1 20.5 26.8
Weight (kg) 3.0 3.7 4.4 5.1 5.0 6.1 7.2 8.3 9.5 6.5 8.2 9.9 11.6 13.2 10.9 13.2 15.5 17.8
Winding Thermal Time Const.(sec) 81 74 94 100 172 168 183 221 228 175 185 198 217 241 213 217 275 301
Maximum Cogging (Nm) 0.02 0.03 0.04 0.05 0.03 0.06 0.08 0.10 0.13 0.06 0.10 0.14 0.18 0.21 0.09 0.16 0.23 0.30
Ke (NOM ) =147 V/krpm Ke (V/krpm) 147
Rated Torque (Nm) 1.1 2.1 3.0 3.8 2.2 4.0 5.5 6.9 8.2 3.2 6.1 8.7 10.8 14.0 5.9 10.3 14.6 18.4
Performance Data
Continuous Stall Current (A) 0.5 1.0 1.3 1.7 1.0 1.8 2.5 3.2 3.8 1.5 2.8 4.0 5.2 6.4 2.7 4.5 6.4 8.3
Rated Power (kW) 0.23 0.44 0.63 0.80 0.46 0.84 1.15 1.45 1.72 0.67 1.28 1.82 2.26 2.93 1.24 2.16 3.06 3.85
Unimotor
R (ph-ph) (Ohms) 144 48.2 25.0 15.7 59.0 17.0 9.90 6.00 4.30 27.8 8.55 4.55 2.96 2.17 12.5 3.60 2.10 1.35
L (ph-ph) (mH) 214 99.2 59.2 44.7 131 54.5 36.5 25.6 18.9 94.6 40.5 25.7 18.6 14.7 58.0 29.8 18.7 13.6
Ke (NOM) = 98 V/krpm Ke (V/krpm) 98
Rated Torque (Nm) 1.1 2.0 2.8 3.5 2.0 3.9 5.4 6.8 8.1 3.0 5.5 8.1 10.4 12.6 5.4 9.0 12.2 15.8
Rated Power (kW) 0.35 0.63 0.88 1.10 0.63 1.23 1.70 2.14 2.54 0.94 1.73 2.54 3.27 3.96 1.70 2.83 3.83 4.96
R (ph-ph) (Ohms) 60.8 20.1 10.5 7.5 24.5 6.80 4.00 2.50 2.00 12.6 3.86 2.02 1.40 1.10 5.63 1.72 0.94 0.61
L (ph-ph) (mH) 98.4 41.8 27.6 19.7 57.9 24.3 15.5 10.9 8.50 43.1 18.6 11.4 8.60 7.40 31.0 13.3 8.30 6.10
Rated Torque (Nm) 1.0 1.7 2.3 2.9 1.8 3.0 4.0 4.9 5.7 2.5 4.7 6.3 7.5 8.7 3.6 7.0 8.9 10.7
Rated Power (kW) 0.42 0.71 0.96 1.21 0.75 1.26 1.68 2.05 2.39 1.05 1.97 2.64 3.14 3.64 1.51 2.93 3.73 4.48
R (ph-ph) (Ohms) 36.8 10.5 6.30 4.20 12.7 4.08 2.10 1.50 1.03 6.91 2.14 1.16 0.73 0.57 3.12 1.00 0.53 0.35
L (ph-ph) (mH) 54.9 24.8 14.9 10.8 31.5 13.6 8.50 6.30 4.80 23.5 10.2 6.60 4.70 3.90 17.6 7.50 4.70 3.60
Ke (NOM) = 49.0 V/krpm Ke (V/krpm) 49
Rated Torque (Nm) 0.9 1.6 2.1 2.6 1.3 2.1 2.8 3.3 3.7 2.2 4.0 5.1 N/A 2.9 4.5
Rated Power (kW) 0.57 1.01 1.32 1.63 0.82 1.32 1.76 2.07 2.32 1.38 2.51 3.20 1.82 2.83
R (ph-ph) (Ohms) 15.0 5.00 2.66 1.90 5.45 1.82 1.05 0.62 0.48 3.1 0.97 0.50 1.42 0.46
L (ph-ph) (mH) 24.0 10.6 6.80 4.80 14.1 6.00 3.80 2.70 2.10 15.54 4.81 2.94 7.72 3.44
N/A Not Available Consult factory Control Techniques Dynamics Limited have an ongoing process of development and reserve the right to change the specification without notice.

Chapter 6 4/3/05 9:21 am Page 154
MAx AND UNIMOTOR SELECTION

Motor Type (#) Stall Stall Peak Torque @ Standard Motor
Reference 3000rpm Drive Torque Current Torque 3000rpm Inertia(*) Weight
No. Kt (1.6Nm/A rms) Type (Nm) (Arms) (Nm) (Nm) (kgcm2) (kg)
1 75SLA300CBPAA MAx 403 1.2 0.8 3.6 1.1 0.6 3.5
2 75SLB300CBPAA MAx 403 2.2 1.4 6.3 2.0 1.0 4.3
3 75SLC300CBPAA MAx 403 3.1 2.0 8.4 2.8 1.5 5.1
4 75SLD300CBPAA MAx 403 3.9 2.5 10.8 3.5 1.9 5.8
5 95SLA300CBPAA MAx 403 2.3 1.5 6.9 2.0 1.4 4.7
6 95SLB300CBPAA MAx 403 4.3 2.7 11.2 () 3.9 2.5 6.1
7 95SLC300CBPAA MAx 403 5.9 3.7 17.77 () 5.4 3.6 7.2
8 95SLD300CBPAA MAx 406 7.5 4.7 20.7 6.8 4.7 8.8
9 95SLE300CBPAA MAx 406 9.0 5.7 20.8 () 8.1 5.8 10.4
MAx & Unimotor
Drive & Motor Selection
10 115SLA300CBPAA MAx 403 3.5 2.2 11.2 () 3.0 3.2 7.3
11 115SLB300CBPAA MAx 406 6.6 4.2 19.0 5.5 5.5 8.8
12 115SLC300CBPAA M'Ax 406 9.4 5.9 20.8 () 8.1 7.8 10.6
13 115SLD300CBPAA MAx 409 12.4 7.8 30.4 () 10.4 10.0 12.5
14 115SLE300CBPAA MAx 409 15.3 9.6 40.4 () 12.6 12.3 14.2
15 142SLA300CBPAA MAx 406 6.3 4.0 18.9 5.4 7.8 9.4
16 142SLB300CBPAA MAx 409 10.8 6.4 30.4 () 9.0 14.1 12.1
17 142SLC300CBPAA MAx 412 15.3 9.6 40.0 12.2 20.5 14.7
Preferred stocking frames are B and D. For other combinations - consult Drive Centre.
(#): Motors in table are connectorised, no brake, no key - plain shaft, IEC flange, standard inertia.
Other base speeds are 2000rpm (2.4Nm/A rms), 4000rpm (1.2Nm/A rms); 6000rpm also available
Options available: Brake, cable assemblies, planetary gearboxes, keyed shaft
(): Motor is capable of higher peak torques when used with next higher rating M'Ax.
(*): Higher inertia rotors are available as options.

Chapter 6 4/3/05 9:21 am Page 155
MAx AND UNIMOTOR SPEED TORQUE CURVES

(2) 75SLB300 with MAx 403 (3) 75SLC300 with MAx 403 (4) 75SLD300 with MAx 403
7 9 11
6 8
480 V 480 V 9 480 V
7
Torque (Nm)
Torque (Nm)
Torque (Nm)
Torque (Nm)
5 380 V 380 V
380 V 6
7
4 Intermittent Torque 5 Intermittent Torque Intermittent Torque
3 4 5
3
2 3
2
1 Continuous Torque Continuous Torque Continuous Torque
1 1
0 0 0
0 1000 2000 3000 4000 0 1000 2000 3000 4000 0 0 1000 2000 3000 4000
(5) 95SLA300 with MAx 403 (6) 95SLB300 with MAx 403 (7) 95SLC300 with MAx 403
7 12 12
6 10 10 380 V
Torque (Nm)
480 V
Torque (Nm)
Torque (Nm)
480 V
Torque (Nm)
5 380 V 480 V
380 V 8 8
4 Intermittent Torque Intermittent Torque Intermittent Torque
6 6
3
Speed Torque Curves

4 4
2
MAx & Unimotor

1 Continuous Torque 2 Continuous Torque 2 Continuous Torque
0 0 0
0 1000 2000 3000 4000 0 0 1000 2000 3000 4000 0 1000 2000 3000 4000
(8) 95SLD300 with MAx 406 (9) 95SLE300 with MAx 406 (11) 115SLB300 with MAx 406
22 22 22
18 480 V 18 380 V 18 480 V

Torque (Nm)
Torque (Nm)
Torque (Nm)
Torque (Nm)
Torque (Nm)
380 V 480 V
14 14 14 380 V
Intermittent Torque Intermittent Torque Intermittent Torque
10 10 10
6 6 6
2 2 2
0 0 0
0 1000 2000 3000 4000 0 1000 2000 3000 4000 0 1000 2000 3000 4000
(12) 115SLC300 with MAx 406 (13) 115SLD300 with MAx 409 (14) 115SLE300 with MAx 409
22 40 40
18 380 V
480 V 480 V
Torque (Nm)
Torque (Nm)
Torque (Nm)
480 V 30 30
14 380 V
Intermittent Torque Intermittent Torque 380 V Intermittent Torque
10 20 20
6
10 10
2
0 0 0
0 0 1000 2000 3000 4000 0 1000 2000 3000 4000 0 1000 2000 3000 4000
40 40 40
480 V 480 V
Torque (Nm)
Torque (Nm)
Torque (Nm)
30 480 V 30 30
380 V 380 V 380 V
20 20 20
10 10 10
0 0 0
0 1000 2000 3000 4000 0 1000 2000 3000 4000 0 1000 2000 3000 4000
40C Ambient, up to t100C; 10% tolerance on all performance data

Chapter 6 4/3/05 9:21 am Page 156
Unimotor Power Cable selection

Length Numbers represent the required cable length in metres. Conversion cables will be limited to 0.4m only and the length is
Unimotor
not required in the order code.
PS B A A A 015
2
D * - 10.0 mm2 52A
E * - 16.0 mm2 70A
Drive End Motor End

C
X Cut end


Chapter 6 4/3/05 9:21 am Page 157
Unimotor Signal Cable selection


Unimotor
SI B A A A 015

0.4m for DS to DM
Conversion cable
Drive End Motor End

K RJ45 connector
X Cut end

Chapter 6 4/3/05 9:21 am Page 158
MiniAx TERMINAL DIAGRAM & DESCRIPTION

Overview; Feature Performance;
Ratings;Terminals; Specifications
MiniAx
OVERVIEW
The MiniAx is an ultra compact and robust ac brushless servo
module designed to meet a wide range of automation
applications.The cost effective but dynamic design has made
MiniAx the perfect partner for OEMs who are searching for a
compact reliable servo package that offers superior
performance. Designed for applications where the dynamic,
accurate control of the position, velocity and toque loop are
critical MiniAx and its performance matched MM55 motor
range have helped improve machine productivity. SPECIFICATION
Environment
FEATURE PERFORMANCE Ambient Operating Temperature 0 to 40C
Cooling Method Convection
Trapezoidal 3 phase brushless servo Humidity 95% non-condensing at 40C
Rugged, compact footprint Storage Temperature
Altitude
-40 to 50C
Up to 2000m
Designed for chassis mounting (IP00) Enclosure Chassis (IP00)
Pluggable terminals for simple installation and replacement Control
High switching frequency (22kHz) for low audible noise Analogue reference
Auxiliary Power supply
+/
+
-10V
/-10VDC (4mA)
and current ripple
Encoder Supply 5VDC (130mA)
Encoder feedback as standard Max encoder frequency 250kHz
Torque or speed control with torque override Enable signal +10 to 30VDC
Diagnostics include; short circuit, under and over voltage, Current loop bandwidth
Protection
2.5kHz
over temperature, and loss of hall sensor

Positive or negative logic External short circuit trip
Under voltage trip
Over voltage trip
RATINGS Heatsink over temperature trip
Loss of Hall sensor trip
Model Order Code Input Rated Peak
Voltage Current Current Approval and listings
(VDC) (A) (for 2s)
MiniAx 60*5/10 20-80 5 10
MiniAx60*10/20 20-80 10 20

Chapter 6 4/3/05 9:21 am Page 159
DIMENSIONS (mm)
MM55 AC Brushless Motor
OVERVIEW
MiniAx Drive
The MM55 AC brushless permanent magnet servo motor was
designed to respond to the demands for a low cost high
28.5
18.0 performance motor for use with the MiniAx servo controller.
Being brushless there is no maintenance requirement and the
127.5 laminated construction gives a very high torque/inertia ratio
135.6 which is perfect for applications requiring high performance in
a small space. Shaft performance feedback is through a
standard incremental encoder.
Overview; Specification; Dimensions

SPECIFICATION
65.5 82.0
MM55 comes in three frame sizes across the range
0.55Nm to 1.35Nm
Insulation to class F
MM55
19.5
Low rotor inertia as standard for dynamic performance
127.5 Assembled using rare earth magnets
Winding vacuum impregnated for mechanical strength
and thermal performance
Protection to IP55
Incremental Encoder feedback with +5VDC with A, B, Z and
commutation outputs as differential RS485 drivers (20mA)
Optional brake available with 1.1Nm static rating for normal
parking and a dynamic rating of 0.75Nm for infrequent use
24VDC power requirement for brake option
DIMENSIONS (mm)
ENCODER POWER
L
5.00
44.50 MM55 D k6 40.0 j6

4 HOLES 4.5
2.00
55.00 A*
Motor Length A B C
Length - No brake (A*) 106 136 166
Length - Braked (A*) 141 171 201
Weight - No brake (kg) 1.1 1.6 2.0
Weight - Braked (kg) 1.5 2.0 2.4
Shaft (LxD) 20x9 23x11 23x11

Chapter 6 4/3/05 9:21 am Page 160
MINIAX AND MM55 SELECTION CHART
MiniAx drive type 60x5/10 60x10/20

Motor Length A30 B30 C30 A50 B50
Stall torque (Nm) 0.65 1.08 1.35 0.55 0.70
Peak torque (Nm) 1.4 2.7 2.7 1.4 1.4
Stall current (A) 4.7 7.9 10 7.8 10
Peak current (A) 10 20
Nominal speed (rpm) 3000 5000
Ke ac (Vrms/krpm) 11.6 5.9
Encoder feedback (ppr) 2048 1024
Rotor inertia (Kgcm2 ) Unbraked 0.12 0.22 0.32 0.12 0.22
Motor poles 8
Motor temperature rise (C) 80 80 50 80 50
Ambient temperature (C) operates up to 40C ambient
MiniAx & MM55
Back EMF (Vac) 60

Insulation class F
Selection
MM55 Ordering Information
55 MM B 30 0 F A M A A
Frame Size 55mm Inertia:

A - Standard *
Motor Type
Flange Mounting:
Stator Length: A IEC *
A,B,C B NEMA
Nominal Speed: Feedback Device:

30 3000 rpm K Incremental Encoder *
50 5000 rpm for 5000 rpm -1024 ppr
M Incremental Encoder *
Brake: for 3000 rpm - 2048 ppr
0 None Fitted *
1 Brake fitted 24 vdc Output Shaft:
A With Key *
B Plain - No Key
Connection Type:
*
Note: ( ) Items are STANDARD version supply i.e no F Flying Lead (400mm)
brake, flying leads (400mm) open ends, with key, open-ends *
incremental encoder, IEC Flange and standard inertia. G Flying Lead with Unimotor connector
H Signal Unimotor connector only

Chapter 6 4/3/05 9:21 am Page 161
SPEED TORQUE CHARACTERISTICS

3000 rpm 5000 rpm
2.0
1.5 MiniAx 60x10/20
Torque (Nm)
1.0 60 V dc
Intermittent Torque
0.5
Continuous Torque
0.0
0 1000 2000 3000 4000 5000 6000
Speed (rpm)
Speed Torque Characteristics

MiniAx & MM55
2.0
MiniAx 60x10/20
Torque (Nm) 1.5
1.0 Intermittent Torque

60 V dc
0.5
Continuous Torque
0.0
0 1000 2000 3000 4000 5000 6000
Speed (rpm)
Tests conducted at 25C room temperature with MiniAx supply at 60 VDC and 70 VDC

Chapter 6 4/3/05 9:21 am Page 162
MM55 Power Cable selection


MM55
PS B A A A 015
2
D * - 10.0 mm2 52A
E * - 16.0 mm2 70A
Drive End Motor End

C
X Cut end


Chapter 6 4/3/05 9:21 am Page 163
MM55 Signal Cable selection


MM55
SI B A A A 015

0.4m for DS to DM
Conversion cable
Drive End Motor End

K RJ45 connector
X Cut end

Chapter 7 pp 4/3/05 4:30 am Page 164
Motion Control Solutions

OVERVIEW
The choices of approach for AC motion control are wide and
varied.The machine or process designer has a huge variety of
machine, control and automation variables to assess and
understand before deciding on the solution that best fits the
needs of the process or machine.
This overview is designed to help users with the selection of a
motion control solution that best suits their needs. Control
Techniques engineers are familiar with the automation
decisions faced and the possible solutions that will fit best and
we recommend customers discuss their application in detail
with their local Drive Centre/ Distributor.
For both PLC and Motion functionality the choice of solution
is heavily biased towards the Automation hierarchy that exists
or is best suited to the application. Typically large multi-axes applications have been the domain of
the centralised approach favoured by PLC based motion
The choices can be summed up as follows:
control suppliers but with the advent of PC based and other
Decentralised Motion Control motion controllers the choice is now much wider.
Drive based processor intelligence for Motion control However with drives having more and more intelligence on
Centralised Control board or available through options, the Solutions Platform
drives such as Unidrive have been championing the
PLC based Motion control decentralised solution as being more practical, more scalable
PC based Motion control
Motion Control Solutions
to the size of application and more cost effective.

Motion controller based This is certainly true of simple point to point and 11/2 axis
Hybrid Motion Control motion control which is firmly in the domain of decentralised
Overview
PLC, PC or Motion Controller with sectional control done drive based intelligence, and makes up a large slice of todays
high performance servo market.
via drive based intelligence

DECENTRALISED MOTION CONTROL
SM-Applications Lite SM-Applications

OR SM-EZMotion
(IEC61131-3) Programming Platform
Power ToolsPro
Motion Made Easy
Indexing, Gearing, Profiles
Motion Functionality Features For point to point, camming and similar 11/2 axis control
Embedded Position Loop applications there are dual customisation methods with
Function Block Programming associated options and tools:
Ladder Logic Sequencing
Either convenient Motion Made Easy approach
Perfect match for machines and applications that are:
OVERVIEW Low volume/low engineering time/ high performance
Todays machine designers and users aim to find the most cost SM-EZ Motion option module
effective method of achieving advanced machine control Simple 5 step process
through the optimum deployment of processing resource, Or IEC 61131-3 based approach.
Decentralised Motion Control

software and hardware. Perfect match for machines and applications that are:
The scalability of Unidrive 6, with its choice of programming High volume/high performance
options and tools, enables users to implement the correct Standard PLCopen Motion Programming Environment
level of PLC logic/Motion code and machine control for Different levels of scalable customisation
Overview
their applications. On-board (no-options)
SM-Applications
ULTIMATE FLEXIBILITY
Example of decentralised control The flexibility of the Unidrive 6
SM-PROFIBUS-DP together with the option module
SM-Applications range makes the Unidrive 6 the
To existing
remote PLC SCADA SM-I/O Plus
perfect Solutions Platform for any
automation system.
Section 1 Section 2 Section 3
The SM-Applications option modules
Remote I/O can be used in almost unlimited
combinations with fieldbus and I/O
options in order to neatly dovetail into
+ + +
existing automation systems.
Alternatively, when starting out with a
clean sheet of paper, the Unidrive 6
can achieve the necessary cost and
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space savings by allowing the Project

Engineer to accurately match the
PLC and I/O requirements.

PERFORMANCE
Motion Made Easy The Unidrive 6 is easily matched to a wide range of motors
and PowerTools Pro and feedback devices to provide optimum performance for
nearly any servo or closed loop vector motor application.The
Motion Made Easy solution provides users with all the
power needed for precise functions control:
Applications with
Motion functionality Programmable Limit Switches Homing
User Defined Variables Queuing
High-Speed Position Capture Program Multi-tasking
Multiple Profile Summation Jog
SM-EZMotion S-curve Accel and Decel Indexing

Synchronised Motion Gearing
UNIDRIVE 6 SOLUTIONS PLATFORM

Programming Platform - Global voltage availability, 200V-690V, with full range
Power ToolsPro of industrial output ratings (see Unidrive 6 servo section
Motion Made Easy or main product brochure)
Indexing
Gearing High velocity loop bandwidth
Profiles Universal feedback with 12 selectable encoder
types, including:
Quadrature, SSI, SinCos, Endat, Hiperface
OVERVIEW Integration with your motor feedback virtually guaranteed
Unidrive 6 the AC servo drive Solutions Platform, packaged Cost and space saving design features, including:
with the EZMotion module and free PowerTools Pro Secure Disable input as standard to meet EN954-1 cat.3,
software means Motion Made Easy for OEMs, integrators, a must for modern machine builders
machine builders and end users. Integral EMC filter as standard, meets EN61800-3 for
Motion Made Easy
For most motion control applications, users are looking for fast global machine conformity
set up, short software learning curves, and fill-in-the-dialogue- Optional zero-space dynamic braking resistors
box programming that achieves motion profiles quickly and Two additional option slots, which can be used for
reliably.The Unidrive 6 Motion Made Easy option has additional I/O, fieldbus communication support, or
been designed specifically for these users. second-encoder support
48-96 VDC operation for set up and low-speed
SAVINGS
operation on mains supply backup
The flexible and scalable architecture of the Unidrive 6
provides many tangible cost and space saving benefits.
Savings derived with Motion Made Easy are:
Internally fitted motion controller, less cabling, speeds
installation and reduces the chance of termination errors
Hot-pluggable commissioning thats virtually automatic,
simply describe your system hardware in PowerTools Pro
and the rest is done for you
Low learning curve, thorough on-line diagnostics, and other
powerful software features enable users to create
high-performance motion profiles in minutes

APPLICATIONS CO-PROCESSOR APPLICATION PROGRAMMING

SM-EZMotion SOFTWARE PowerTools Pro
The SM-EZMotion is a cost effective motion controller which PowerTools Pro is a WindowsTM-
clicks into any of the Unidrive 6 option slots to give a based programming software
simple, fast and effective motion solution. that provides an unparalleled
Precise, reliable motion control using its own set-up and commissioning
internal processor environment equally suitable
for all skill levels professional
Six high-speed, digital I/O points (4 input & 2 output), motion control engineer,
adding to the seven digital I/O and five analog I/O standard
on the Unidrive 6 infrequent user, or someone
new to servo systems.
One-and-a-half axis motion synchronised to a reference
encoder (with encoder module) Plug and Play
implementation configures
Designed to get users up and running quickly with the Unidrive 6 parameter
applications such as:
settings, making hardware
Conveyor Synchronisation
setup almost automatic
Electronic Gearing
Feed to Sensor/Torque
Safely program the SM-EZMotion
without removing the cover or
Flying Cutoff powering down by using the
Labelling and Printing Modbus RTU port on the front of the
Multi-Lane Merge Control Unidrive 6
Parts Alignment Data entry simplified using Windows TM
-based interface
Phase Synchronisation Fill-in-the-Dialogue Box values
Point-to-Point Positioning Point-and-Click Radio Buttons

Product Spacing Scrolling Menu Selections
Random Infeed Control Drag-and-Drop parameter and I/O assignments
Motion Made Easy

Registration Control
Rotary Knife
The Hierarchy view provides instant access to all the tools
in PowerTools Pro and is the key to Motion Made Easy
Slip Compensation
Thermoforming
Traverse Winding
Web Control
...and many more!
Ordering Motion Made Easy Solutions
Product Description Additional Information Order Code

Unidrive 6 AC Servo Drive Details in the catalogue, Product Brochure See section on
and on-line at www.ControlTechniques.com Unidrive 6 Servo
SM-EZMotion Motion Control Module Solution Module supplied with free Power SM-EZMotion
Tools Pro programming sofware
PowerTools Pro Windows-based software Programming software supplied with PowerTools Pro
SM-EZMotion, download from
www.ControlTechniques.com
PC to Drive Cable Comms Cable For PC to drive configuration and programming CT Comms cable
of Unidrive 6 & SM-EZMotion module
Unimotor AC Servomotor Details in the catalogue, Product Brochure See section on
and on-line at www.ControlTechniques.com Unidrive 6 Servo

POWERTOOLS PRO WITH

The free PowerTools Pro software in combination with the
SM-EZMotion module enables users to fully realise the motion
control power of the Unidrive 6. A familiar Windows
interface provides operators and machine builders with the
tools needed to access everything required for complete
servo control PLS, Queueing, Analog-In, User Variables,
High-Speed Capture, Electronic Gearing, Multiple Profile
Summation, S-Curve Accel and Decel,
Program multitasking, Synchronised
motion, and more. An unexpanded Hierarchy View is shown on the left-hand side
of the PowerTools start up screen.
Developing applications with
PowerTools Pro is an easy User Units
five-step, top-down process that User Units are the first item under Setup on the PowerTools
quickly gets your applications running. hierarchy. User Units deliver high resolution performance and
The five task areas that need to be ease of use. Motion can be programmed in any units that the
completed in order are found in the Hierarchy View user desires. Setup the 32-bit data resolution for position,
Hardware, Setup, I/O Setup, Motion, Programs and Network. velocity, and acceleration data one time and the rest is done
Some areas may not need completing, as some applications, for you. Select from optional time scales for Velocity and
such as a flying cutoff may not require programming nor Acceleration units.
network parameters to operate.
Programs
Programming software for the SM-EZMotion
customised user programs up to 1,000 lines of code. Use

module that gets applications up and running quickly,
conditional branching, wait for, program calls, formulas, user
from the simple to the complex
Motion Made Easy
Hierarchy View provides for an easy, flexible, and complex applications. Easily create programs, such as the drill
powerful programming environment head positioning program below, by dragging and dropping,
or typing program instructions, variables, I/O, and formula
Familiar Windows-based processes simplify operands into your program screen. Use the SM-EZMotion
entering data
module to run one program at a time, or up to four
Fill-in-the-BlankValues programs simultaneously!
Point and Click Radio Buttons

parameter updates
OR VISIT

Assignments
Use our Virtual Wiring to create programs right out of the box, without writing a
line of code. For example, the assignment screen below shows how easily a flying
cutoff routine can be created.
Indexes

to a master.
Profiles
Motion Made Easy

Multiple Profiling

MOTION FUNCTIONALITY WITH PERFORMANCE

UNIDRIVE 6 AND Unidrive 6 together with SM-Application or
SM-Applications Lite option modules forms a fully digital high
Applications with PLC performance motion control system:
or Motion functionality
250s position control loop update
To maximise performance the position control loop is
SM-Applications Lite OR SM-Applications synchronised accurately to drive speed and current
Unidrive 6 may be connected to most encoder feedback
devices including high-resolution SinCos encoders. Encoder
resolution improves the positioning accuracy and
Programming Platform performance of the system
(IEC61131-3)
Additional feedback option modules allow master slave
configurations such as electronic gearbox, flying shear or
rotary knife. Motion Function blocks allow a range
Motion Functionality Features
of functions such as relative moves, absolute moves and
Embedded Position Loop
Function Block Programming CAM functionallity
Ladder Logic Sequencing SM-Applications module incorporates CTSync
OVERVIEW synchronisation for multiple axis control and high speed I/O
for time critical field devices
Unidrive 6, the true Solutions Platform, offers a wide range
of motion control solutions giving users unparalleled UNIDRIVE 6 SOLUTIONS PLATFORM
performance and flexibility.
Real cost and space savings are quickly achievable with the
Global voltage availability, 200-690V, with full range of
industrial output ratings see Unidrive 6 Servo section
flexible modular Unidrive 6 approach in selecting hardware
Universal motor control platform induction, servo, linear
Motion with Unidrive 6 &
and IEC61131-3 software.
SAVINGS
Universal feedback with 12 selectable encoder types including:
Quadrature, SSI, SinCos, Endat, Hiperface Integration
Equipment and machinery manufacturers as well as with your motor feedback virtually guaranteed
end-users can achieve lower total component costs using the
no-extra-cost onboard Motion functions of the Unidrive 6
Cost and space saving design features including:
RS485 Port, Modbus RTU
In more complex applications the modular hardware Secure Disable input as standard to meet
approach allows scaling of PLC processing power so that it
EN954-1 cat. 3 a must for modern machine builders
more precisely matches the demands of the application
Integral EMC filter as standard meets EN61800-3 for
Space Saving the Motion options for the Unidrive 6 global machine conformity
save space since they are all contained within the drive
Optional zero-space dynamic braking resistors
Reduce commissioning time Unidrive 6 and its PLC 48-96 VDC operation for low speed set-up/operation or
options can be programmed together, using intuitive PLC
ladder and function block programming language to mains supply back-up
IEC61131-3 24 VDC back up to maintain power for control, fieldbus
and encoder for commissioning and monitoring with
mains disconnected
Three option slots supporting a wide range of Solutions
Modules for maximum system flexibility.

APPLICATION SM-Applications I/O The module has two digital inputs

CO-PROCESSOR MODULES and two digital outputs for high-speed I/O operations such as
position capture or actuator firing and a fast optically isolated
SM-Applications
RS485 port, supporting standard protocols such as; Modbus
The SM-Applications module for connection external devices like Operator Interface panels
transforms your Unidrive 6 drive or synchronous communication using the protocol.
into a powerful automation controller
Standard Solutions Where applicable standard software
that adds motion functionality and can
Solutions such as winder, flying shear and duty assist are available
be integrated with operator
to help to simplify the development and commissioning process.
interfaces, remote
I/O and other SM-Applications Lite
intelligent drives via The SM-Applications Lite module is
our drive-to-drive designed to solve your automation
network CTNet. requirements where intelligence is needed
This gives you all of on a stand-alone drive or a drive connected
the benefits of a fully to a centralised controller connected via I/O or fieldbus.
distributed control The Module provides many of the functions of SM-Applications
system including but may be programmed using eitherSyPTLiteorLite .
better performance, SyPTLit
Lite together with SM-Applications Lite gives you an
reduced cost and intermediate-level automation solution that is suitable for a

smaller electrical wide variety of automation applications, while and SM-
panel sizes. Applications Lite will allow you to exploit the full power and
Performance The SM-Applications module contains its performance of the option module in stand-alone applications.
own high performance micro-processor, leaving the drives own APPLICATIONS PROGRAMMING
processor to give you the best possible motor performance. It SOFTWARE ANDSyPTLite
Lite

contains 384K of user program memory, meaning that you are
Overview
never likely to be limited by the program size or processing
and SyPTLitsoftware are intuitive PC/Laptop tools

Lite
power of the module.
for PLC programmers used to working with standard
Easy Powerful Configuration The Motion Functionality
IEC61131-3 programming tools
is programmed using (System Programming Tool)
allowing you to tackle automation problems from simple start SyPTLit is the entrance level programming tool which is
Lite
and stop sequencing through to more complex machine and delivered free of charge with the Unidrive and can be
motion control applications.The device is programmed within used straight out of the box for programming in quick
an IEC61131-3 environment with your choice of 3 languages, ladder logic
meaning that you will be quickly familiar with the is fully flexible programming tool which is supplied
intuitive user interface. provides a suite of with a users licence for programming in Ladder logic,
diagnostic and debugging features for maintenance and to help Function blocks, DPL (Drive Programming Language) script
you to get your solution into service faster. gives the user visibility of the entire system which
Real-Time Control SM-Applications gives you real-time may include multiple SM-Application modules, I/O modules
access to all of the drives parameters plus access to data as well as fieldbus options
from I/O or other drives.The module uses a high-speed
multi-tasking operating system with task update times as low
Multiple fieldbus options can be configured to reduce bus
traffic via the use of multiple LANS or to allow dynamic
as 250s, fully synchronised to the drives own control kernel bridging from one network to another (e.g. PROFIBUS
to give you the best possible performance for drive control DeviceNet)
and motion.


Overview
is the professional drive programming toolkit for OEMs
and End Users who wish to maximise the performance of
their machines and factory.This IEC61131-3 programming
software offers greatly enhanced functionality allowing you to
connect drives, Operator Interfaces and I/O to a network and
configure how they exchange data. allows you to
program in your choice of three different languages, with a
real-time multi-tasking environment. It contains a suite of
monitoring and diagnostics features that help you to reduce Function Block
the time it takes to develop your programmes and allows you incorporates an IEC61131-3 function block diagram
to get your machine into service faster. editor, and comes with a library of more than 250 function
blocks for both simple and complex functions.These embed
years of application experience to make your software easier
to write and easy to re-use. Additionally you can create a
library of your own function blocks or update your library via
our online user resources SyPTPro.com. All function blocks
may be used in any of the three languages.
Ladder
incorporates an IEC 61131-3 Ladder language editor.
This form of programming will be familiar to all PLC
programmers and is the ideal format for sequencing and
I/O control.
DPL
Drive Programming Language is a structured text language, as
easy to use as BASIC, incorporating many standard constructs,
SM-Applications and SM-Applications Lite Option modules
such as IF,THEN, ELSE, and FOR, NEXT loops. DPL is ideal for
and Mentor II DC Drive with MD29 option modules.
initialising, configuration and general programming.
Industrial Network
allows you to configure a single drive or a complete
drive system connected to a network. CTNet is an industrial
network designed to be deterministic, robust and tolerant to
noise and interference. An OPC server is available free of
charge from your local Control Techniques Drive Centre
or Distributor.
Programming
allows you to program in your choice of three
programming languages; these are Function block diagram,
Ladder diagram and DPL (Drive Programming Language). And
offer a multi-tasking environment where the tasks are
scheduled according to the required speed of execution or
triggered by events.

Diagnostics and debugging Our motion control environment is designed to make motion
Good diagnostics are essential and ensure: control quickly accessible to both novice and experienced
users. Our PLCopen function blocks allow you to initialise
Software development time is minimised motion control with a single function block.This will
Commissioning time is reduced automatically configure the drives parameters ready to accept
Downtime is cut dramatically further commands from the PLCopen motion kernel. Any
contains a suite of diagnostic tools that help you subsequent function blocks may be used to directly control
to find problems with the system or software quickly and motion, such as Datum/Home sequences, move relative, move
easily. When connected on-line, shows you live real- absolute, gearing and cam functionality.This approach provides
time views of variables in Function Block Diagrams, Ladder the simplest method of programming for motion control, and
Diagrams and DPL, and allows you to execute program makes it easy to re-use and diagnose your software.
System Watch Window
Allows you to monitor real-time variables and parameters
form a single drive or multiple drives.

ORDERING

Software AC Drive** PLC/Motion PC to
SUPPORT FOR OPEN (IEC61131-3) Platform Options Drive Cable
MOTION PROGRAMMING Unidrive SM-Applications CT Comms
PLCopen is a standards organisation that is vendor and product 6 Cable
independent, focusing on developing standards for software in SyPTLite Unidrive SM-Applications CT Comms
industrial automation.The organisation has had major success Lite
6 Lite Cable
through the standardisation of PLC programming languages, for
example, in the IEC61131-3 specification, which is now widely **See Unidrive 6 Servo selection for further information, or go to
www.controltechniques.com
accepted. PLCopen has now turned its attention to the motion
programming and has obtained general agreement on a
standard for motion control functions blocks.This has now
been implemented in for use with the SM-Application
programmable modules used with Unidrive 6.
Control Techniques has been involved in defining the PLCopen
standards for motion control, alongside other major vendors
for PLCs and motion controllers, and this is now available as a
standard no-cost feature with SM-Applications and .

CTSync is a high performance communication link that can improve your machines performance and reduce the cost of your
control system. CTSync is standard with SM-Applications. It provides synchronisation between drive control loops thus allowing
the creation of a virtual master reference.
Using a Virtual Master Reference:
Traditional master / slave synchronisation Example: Motion control with 4 axis linear interpolation
Disadvantages of traditional master/slave: Advantages of Virtual Master:

High resolution SinCos encoders cannot be Co-ordinated multi-axis control with < 4sec jitter
multi-dropped
Solution for when a real encoder cannot be physically
Difficult connections required for many encoder types, fitted to a machine
minimum of 6 wires
Cleaner noise free signal for guaranteed performance
Expensive encoder options required on every slave Compensation with feed-forward
Drives software and control loops not synchronised Choice of encoder resolution
between all drives preventing effective co-ordinated

multi axis position control Simple 2-wire connection
Not always possible to connect a master encoder

Motion Functionality Summary with Unidrive 6

CAM Application: Any synchronous motion applications, flying shear, rotary knife,etc
Multiple interpolations between each co-ordinate of Single shot or continuous cycling of the CAM modes
the master and slave Master andchange
Dynamic of CAM segment, e.g. start and finish

Linear Constant velocity
Square Linear ramped velocity
elements, which canco-ordinates
Slave are entered as array
be dynamically changed on the
Cosine Sine ramped velocity fly or fixed in flash memory
All the above can be from 0 velocity or an offset velocity
CAM Flying Shear -
Intime Operator
Interface
1OZ
F1
4GHI
F4
7PRS
F7
2ABC
F2
5JKL
F5
8TUV
F8
0
3DEF
F3
6MNO
F6
9WXY
F9
Space
Unidrive 6
Unimotor
Del F10 +/-
CTIU

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GSX Actuator
Motion
MU ROTOMINU
Master
Encoder Motion r
Ba
g
tin
ut
C
Position Profile Generator Applications: indexing & point to point

Linear ramps
Acceleration, max speed and Jerk parameters can be dynamically changed on the fly
Index Position Profile Generation Feeder Application Extend-retract
Unidrive 6
Sensor

a d

Speed Profile Generator Applications: jogging, homing
Linear or S ramps
Acceleration, max speed and Jerk parameters can be dynamically changed on the fly
Speed Profile Generation Bridle Control Wire Drawing
V
Electronic Gear Box (Digital Lock) Applications: Master follower applications, conveyors etc
Wide range of Gear ratios, 32bit integer Numerator/Denominator
Rigid Lock - ramp to ratio line speed and recover lost position during acceleration, then lock into line position
Non-Rigid Lock - ramped to ratio line speed and lock into line position
Lock, No ramps, lock into line position, like a true gearbox
Digital-Lock Shaftless Offset Printing Unidrive Digital Lock
Rigid
Lock Electronic Ratio =
Lineshaft 0.895
Ratio =
Non-Rigid
1.234
Lock
cy
uen
Freq
e
enc
Locked
fer
(EGB)
r Re
ste
Ma

Centralised Motion Control

OVERVIEW
The traditional solution to multi-axis control and complex axis The Control Techniques Motion Controller solution is based
interpolation applications uses Motion Controller, PLC, or PC around the MC Motion Co-ordinator. For PLC based solutions
based centralised approaches. With an efficient one point the wide choice of fieldbusses available on Unidrive and
bridge to the process layer and familiar PLC programming Commander SK enables the users to select from virtually
language the complexities of multi axis co-ordination can be every industrial PLC in the marketplace to control their
catered for using anyone of these three methods to application. For PC based solutions the SLM compatible
centralised motion control. partners offer as wide selection for users wishing to exploit
the performance benefits of SLM technology.
MC MOTION CO-ORDINATORS WITH MAX, MULTIAX AND UNIMOTOR

MC Motion Co-ordinators are fast, powerful and reliable. Easy to install and program, they share a range of common features that
ensure maximum system performance with minimal programmer training and simple system upgrades.
The MC Advantage:
Choice of 2 Motion Co-ordinators
Both accept 3 Axis Daughter Boards
Approved for use with MAx and MultiAx
MC 206 +1 D.B.=3 axes
MC 206 MC 224 +4 D.B.=12 axes
Axes not used by drives can be used for analog
drives and additional communications interfaces
Motion Co-ordinators
Motion Controller Solution
Use Digital Signal Processors

M'Ax
M'Ax
M'Ax
Allow Servo / Stepper Combinations

Have accurate, fast Real Number mathematics
256 max. Digital I/O expansion channels
32 max. Analog Input expansion channels
Program transfers by a Flash Memory Stick
MOTION CONTROL MC MOTION CO-ORDINATORS

MC224
Pg 176-7
Up to 12 Digital Drives can be controlled with SLM
Daughter Boards in MC224 Motion Co-ordinator
TECHNOLOGY
Pg 178-9
SERVO DRIVES MAX & MULTIAX

Pg 178-193
MultiAx
MultiAx
M'Ax
M'Ax
M'Ax
M'Ax
M'Ax
M'Ax
MOTORS UNIMOTOR
Pg 186-193

MC 206
DIN rail mounting, 120 MHz DSP, extensive communications MC Daughter Boards:
options and up to 8 axes of stepper or servo control make P200 - Servo with Encoder P270 - SSI Absolute Servo
this deservedly one of the worlds most popular P210 - Servo with Resolver P280 - Differential Stepper
P220 - Reference Encoder P290 - 4-axis
Motion Co-ordinators. P230 - Stepper Output CAN/CANopen
P240 - Stepper with Encoder P292 - 3 axis
Equipped as standard P242 - Hardware PSWITCH P296 - Ethernet
P260 - Analog Output P297 - Profibus
with a single axis and a
reference encoder, the
Motion Perfect
MC206 may be fitted
with a MC All MC Motion Co-ordinators are programmed in MC BASIC,
Daughter Board to a simple language which allows users to achieve remarkable
provide 3 further axes results with minimal training.
ideally suited to Control Techniques digital drive systems.
Easy to learn, multitasking BASIC produces highly flexible
For analogue systems, the standard axis provides the necessary
program functionality, often in fewer code lines than many
10V speed/torque control signals to the drive.
other systems.
A further 3 axes may be accessed using MCs unique internet- By using the same language for all Motion Co-ordinators, we
based Feature Enable Code system, which permits authorised have significantly reduced training times for each new product.
customers to download an access code to provide the exact The MC range uses MotionPerfect, an application development
number of additional axes required for the application. environment which employs
the Windows graphical user
interface to further simplify
Daughter Board the programming process.
MCs Daughter

This offers a program editor,
Board provides the vital
an axis tuning page, program

link between Motion
tracer, oscilloscope function,
Co-ordinator and your
and a keypad emulator.
Control Techniques
digital drive. MotionPerfect makes it easy to set-up and commission drive
systems by providing an interactive
One Daughter Board will control up to 3 axes with each drive set-up wizard.
having an independent channel to achieve the high speed The program allows fast automatic
update of 125 S. Up to 12 based axes may be used in initialisation and takes full
an MC control system. advantage of the plug and play
features built in to the MAx and
MC 224 MultiAx servo drives.
Up to 12 axes using
150 MHz DSP and up to 4 Daughter Additional modules such as CAMGEN, to assist with
Boards for the ultimate in configuration programming CAM profiles, DocMaker program analyser and
flexibility with a wide range of report generator, and Cad2Motion, to translate CAD drawings
communications options. into BASIC programs are also available. MotionPerfect software
is supplied for download free of charge from the Control
Axis Expander modules allow up to Techniques web site:
4 additional Daughter Boards per
module with 4 Axis Expanders per MotionPerfect IS SUPPLIED FREE
Motion Co-ordinator. WITH MC RANGE OR VISIT

MAx and MultiAx

Servo Drives with
Technology The uses a combination of Control
Techniques 4-wire, ASIC and motor-mounted SinCos encoders
to achieve an application invariant 20-fold increase in position
AC Servo drives 1Nm to 20Nm feedback resolution (over 8.3 million points per revolution).
This is achieved by integrating speed & position control within
OVERVIEW
the feedback system on-board the servomotor. As a result, the
Historically, advances in servo technology have been is able to overcome the degradation in performance
incremental steps rather than giant leaps.The MAx and experienced with encoder feedback signals when synchronising
MultiAx with has changed all that. multiple servo axes on machines as operating speeds increase.
They redefine totally what a user can - and should - expect For the ultimate interpolated multiaxes performance, control
from a servo system, in terms of installation costs, set-up times, loops are deterministic and synchronised to give the lowest
axis performance and dependability. By achieving substantial jitter in the industry - of 50 nanoseconds. As well as being a
improvements in all of these crucial areas, both MAx and performance enhancer now, is also a
MultiAx provides the machine builder with a simple, powerful gateway to the future. Its integration into PC-based motion
and cost effective way of improving the competitiveness and systems opens up a whole new vista for optimised multi-axes
performance of any machine..... control in the new future.
Its an edge that will make all the difference to your machines
- Your Control Benefits
in ultra competitive global markets.
Perfect trajectory following - high resolution feedback
MAx & MultiAx Servo Controller Perfect linearity on velocity feed forward
Digital clarity with (2.5Mbaud, Perfect dynamic response on acceleration feed forward
4 wire system)
High control loop bandwidth to achieve sub micron
High resolution feedback 8.3M counts precision on position

per revolution)
Reduced machine vibration - ultra smooth operation
Lower cabling requirements - 4 core
cable
Advanced SinCos encoders as standard

Motion Controller compatible
MAx operates also in stand alone mode
MultiAx is three axis in one servo

MAx or MultiAx
2.5 M baud 4 wire 2.5 M Baud SERIAL
SERIAL
+24V
0V +24V
Motion 0V
POWER STAGE
Controller 4 wire
Compatible
U VWE
4 wire (power)
NOITUA C REGNAD
toh snur enihcam sihT egatloV hgiH
NOITUA C REGNAD
ESU TON OD
GNITFIL ROF REVOC
ESU TON OD
GNITFIL ROF REVOC
NOITUA C REGNAD
ESU TON OD
GNITFIL ROF REVOC
Dataflow Chart Data in

Data from

Data Frame
Host can request
information

Drive Drive
Transmission Status

FEATURE PERFORMANCE WITH

Typical System Material Reductions
MAx AND MultiAx
with MultiAx
Easy Start Up with automatic
motor mapping
Control wiring terminations down by 45%
increased reliability
Easy Start
Automatic Motor Mapping sets itself and gets you going in Cubicle wiring down by 60%
your costs reduced
minutes... No longer do you need to worry about determining
and programming the motor type, current, phase angle, inertia, Cubicle volume cut by over 50%
Kt, Ke etc. It is automatic, immediately at power up, even greater competitivity
without the need for a PC, thereby ensuring a trouble free
and fast start up - Easy Start!
Total component count reduced by over half
costs down, reliability up
MC &
Total System Costs Reduced with MAx! 3 Axes (9 amps nominal) Traditional
MultiAx
Cubicle (see below) 1 1
Reducing wiring in the feedback loop 4 wire system Plinth 1 1
offers significant advantage over the conventional encoder
requiring 14 wires Isolator 1 1
Fusing 9 3
Reducing cubicle size MAx is compact, only 62mm Line contractor 3 1
wide, the minimum of machinery space required for multi
axes installation Safety circuit 1 1
Filter 3 1
Reducing AC supply connections as MAxs can be DC Drive 3 1
supply fed in parallel connection
24VDC PSU 1 1
Reducing cabling as motor thermistors are no longer
required MAx offers intelligent thermal modelling for MC Motion Controller 1 1

accurate and reliable protection of the motor Dynamic Brake resistor 3 1
DB Overload 3 1
Highest Resolution Feedback Terminals (approx) 80 20
Perfect feedback & at an affordable price level! Motor 115 frame 3 3
Motor power cable 10m 3 3
Advanced Sin Cos encoders are standard and with Motor feedback cable 10m 3 3
the sensitive signals are processed Hours build (estimate) 50 18
at source to produce the highest resolution in digital form Wiring points 382 204
Digital clarity is maintained by use of high speed serial link Total cost package 100% 70%
(2.5Mbaud, 4 wire system) to interface between the drive Cubicle dimentions mm Height 2000 1200
and motor supports cable runs of up to 50 metres with Width 800 600
high level of noise immunity Depth 500 500
MAx and MultiAx feedback is Cos
Sin
Cubicle volume 100% 45%
"intelligent" and enables vital
data flow between the motor,
drive and also host motion
controller required. For example
condition monitoring of motor
Interpolated
temperature, performance data and position
many more control parameters

Higher Performance and Precision With
Superb precision performance is standard thanks to the

revolutionary ! MAx and MultiAx With Conventional Servo
feedback provides 8.3 million points per revolution for the
speed loop control. With this high resolution we are able to
track the smallest deviation and work with gains that do not
reach the threshold of instability.The result is high dynamic
response with good motion regularity and ultra smoothness
in rotation.
MAx and MultiAx can give your machinery that extra
competitive edge through improved machinery performance!
The graphic right shows how makes
the difference for a hole cutting machine. In 1 minute higher Roundness 50m Roundness 200m
productivity, cuts faster, better accuracy and quality (roundness)
is up fourfold.
MAx RATINGS
Electrical Data
Output Current External RFI Filter (IP20) Internal Braking Resistor
Complies with EN50081/1 or 2
Max Power Operating Peak Current Peak Max.Cont
Continuous Peak Current Part Dissipation L W D Value Voltage Amps Power Braking Power
Amps Amps (2sMax) Number (w) (mm) (mm) (mm) () (V) (A) (kW) (W)
M'Ax 403 3.5 7

M'Ax 406 6.5 13
4200-1645 6 250 45 70 75 780 10.9 8.9 125

M'Ax 409 9.5 19
M'Ax 412 12.5 25
Supply Voltage 380 - 480V 10% (47.5 to 63Hz) Relative humidity: 95% non-condensing
Rated ambient 45C (up to 55C with derating)
Altitude: derate above 1000m
MAx
TERMINAL
DIAGRAM

MAx TERMINAL DESCRIPTION


MAx SPECIFICATION
Digital I/O Back-up Power Supply

Opto-isolated 24 VDC for encoder
Eight digital inputs 28/32 VDC for drive logic suitable for standby, evacuation system -
Four digital outputs reduced dc bus running
24 V user supply
Standalone
Frequency & direction or quadrature inputs
16 bit High precision 10 V differential (if keypad fitted)
Keypad and user back up supply
7 segment removable display 24 V user supply
Memory Pad stores
identical set of parameters Simulated Encoder
for easy upload Encoder quadrature A, B plus Z marker-pulse outputs
16 bit high precision, 10 V differential (up to 16,384ppr)
Two analogue outputs
Compact Design Standard-precision analogue differential reference input (12 bit)
One size for the range 3.5 to 12.5 Amps
Protection to IP20 Communications Port
Only 62 mm wide RS232 RS485 ANSI 3.28/Modbus RTU
DC Bus Braking
Can be supplied from a common Standard internal resistor failsafe design
DC power supply in parallel with Electronic I2t protection for internal braking resistor
External resistor connectable

other models
Reduced DC bus running with drive MAx Dimensions

backup supply
247 mm
Easy Start
Gains calculator
MaxSoft with Wizard
330 mm
Electronic Thermistor
Intelligent thermal modelling 360 mm
293 mm
Accurate monitoring and protection Practical Grounding Bar
Serial data link employed and Cable Support
NO need for thermistor in motor
Pluggable terminals for
and NO extra cabling requirements
- mains supply
- motor power 50 mm
Advanced Feedback - external braking resistor
SinCos encoder as standard
Earthing clamps for motor
Reduced cabling 4 wire system up to 50 metres 62 mm
cable screen
Intelligent capability
Digital Drive

MultiAx RATINGS
Output Current RFI Filter (IP20) Complies with EN50081/1 or 2
Maximum Peak Current Part Maximum
Drive Rating power L W D
Continuous Amps (2 sec Max) Amps number dissipation (W) mm mm mm
Axis A B C A B C
MultiAx SAC/SDC Low 2.5 2.5 2.5 5.0 5.0 5.0
MultiAx SAC/SDC High 9.375 9.375 9.375 18.75 18.75 18.75 4200-3258 11.83 270 50 87
MultiAx HAC/HDC Low 2.5 2.5 2.5 5.0 5.0 5.0
MultiAx HAC/HDC High 15 9.375 9.375 30 18.75 18.75
AC supply 380 - 480 VAC 10 %, 47.5 to 63 Hz Rated ambient 0 - 50 C
9.75 kW continuous from system Altitude: derate above 1000 m
Relative humidity: 95 % non condensing
MultiAx TERMINAL DESCRIPTION MultiAx TERMINAL DIAGRAM


MultiAx SPECIFICATION
MC/ EIA485 Digital I/O

I/O 4 Opto Isolated inputs
to the motion controller 24 V User supply
Hardware enable input

Status relay contact
and user back-up supply
24 V user supply Back-up Power Supply
24 VDC for encoder
Compact Design 24-32 VDC for drive logic suitable for stand-by
One size for the range
Protected to IP20
Only 92 mm for three axes
Single power input, 3 axes output
Advanced Feedback
Each axis duel rated
SinCos encoder
Reduced cabling
4 wire system - up to 50 metre per axis
Intelligent capacity
Braking
Easy Start External resistor connectable
Practical Grounding
Bar and Cable Support DC Bus
Can be supplied from a common DC power supply in
Pluggable terminals for - mains supply,
parallel with other models
motor power, external braking resistor

Reduced DC bus running with drive back up supply
Earthing clamps for motor cable screen

92 mm
320 mm
MultiAx
DIMENSIONS (MM) 470 mm
403.8 mm
MultiAx

SPECIFICATION
Unimotor Standard motors have UL and CAN/CSA recognised
OVERVIEW Insulation System to class.The CTD/IS/2000/01 insulation
The SLM version of Unimotor is fitted with special system number on the motor number plate, together with the
electronic feedback that operates with symbol, denotes this. Earlier motors may display this
MAx and MultiAx drives.This motor-drive combination offers information on a separate label on the rear cover.
extremely high resolution, for superb system speed control. If the UL symbol has E215243 underneath, then this indicates
High resolution is essential for many system applications where full motor recognition.
speed and position errors must be miniscule. Machinery Directive 89/392/EEC amended to 98/37/EC
The feedback comprises of a special Sincos encoder and Low Voltage Directive 73/23/EEC
electronics, both contained within the standard Unimotor EN 60034 General requirements for rotating electrical
outline.The encoder has a memory programmed with all the machinery
essential motor characteristics necessary to automatically set EN 60034-1 Duty: S1 Continuous
Storage: -15 to 40C operating: Min ambient 0C;
all MAx parameters, giving an instant Plug and Play capability. max ambient 40C
The Unique finned design improves heat dissipation, and Less than 1000m altitude
Relative humidity: 90% Non condensing
with its single piece design optimises torque output and
EN 60034-5 Degree of Ingress protection: IP65S (with mating
reduces cogging torque.The compact design gives additional connector & cable fitted)
torsional stiffness. EN 60034-6 Method of cooling: free circulation, free convection
Laminations and coils are optimised to give high efficiency and EN 60034-7 Flange mounted: horizontally or vertically
low harmonic distortion. All this combined with high energy EN 60034-8 Terminal markings: U V W
EN 60034-11 Thermal protection: PTC thermistor, 165C TP111
magnets and a choice of rotor inertia, give Unimotor truly
(Not SL variants)
dynamic performance to suit all applications. EN 60034-18 Insulation system: Class H 600V, UL number
E214439
machines

Equipment is not deemed suitable for use in an

explosive atmosphere.
This product has been designed to be operated with
Control Techniques drives and must not be put into service
unless the machinery into which it is to be incorporated has
been declared in conformity with the provisions of the
machinery directive.

UNIMOTOR PERFORMANCE DATA

SLM servo motor technical specifications For 3 Phase VPWM Drives 380 - 480Vrms
Stall torque; rated torque and power
t = 100oC, 40oC ambient All data subject to +/-10% tolerance

All Speeds Frame Length A B C D A B C D E A B C D E A B C D E A
Continuous Stall Torque (Nm) 1.2 2.2 3.1 3.9 2.3 4.3 5.9 7.5 9.0 3.5 6.6 9.4 12.4 15.3 6.3 10.8 15.3 19.8 23.4 21.8
Peak Torque (Nm) 3.6 6.6 9.3 11.7 6.9 12.9 17.7 22.5 27.0 10.5 19.8 28.2 37.2 45.9 18.9 32.4 45.9 59.4 70.2 65.4
High Inertia (kgcm2 ) 1.2 1.6 2.1 2.5 3.5 4.5 5.6 6.7 7.8 9.7 12.0 14.3 16.6 18.8 21.6 28.0 34.3 40.7 47.0 93.5
Standard Inertia (kgcm2 ) 0.6 1.0 1.5 1.9 1.4 2.5 3.6 4.7 5.8 3.2 5.5 7.8 10.0 12.3 7.8 14.1 20.5 26.8 33.1 50.0
Weight (kg) 3.0 3.7 4.4 5.1 5.0 6.1 7.2 8.3 9.5 6.5 8.2 9.9 11.6 13.2 10.9 13.2 15.5 17.8 20.5 26.0
Winding Thermal Time Const.(sec) 81 74 94 100 172 168 183 221 228 175 185 198 217 241 213 217 275 301 365 240
Maximum Cogging (Nm) 0.02 0.03 0.04 0.05 0.03 0.06 0.08 0.10 0.13 0.06 0.10 0.14 0.18 0.21 0.09 0.16 0.23 0.30 0.35 0.30
Ke (NOM ) =147 V/krpm Ke (V/krpm) 147
Rated Torque (Nm) 1.1 2.1 3.0 3.8 2.2 4.0 5.5 6.9 8.2 3.2 6.1 8.7 10.8 14.0 5.9 10.3 14.6 18.4 21.3 20.0
Stall Current (A) 0.5 1.0 1.3 1.7 1.0 1.8 2.5 3.2 3.8 1.5 2.8 4.0 5.2 6.4 2.7 4.5 6.4 8.3 9.8 9.1
Rated Power (kW) 0.23 0.44 0.63 0.80 0.46 0.84 1.15 1.45 1.72 0.67 1.28 1.82 2.26 2.93 1.24 2.16 3.06 3.85 4.46 4.19
R (ph-ph) (Ohms) 144 48.2 25.0 15.7 59.0 17.0 9.90 6.00 4.30 27.8 8.55 4.55 2.96 2.17 12.5 3.60 2.10 1.35 0.98 1.80
L (ph-ph) (mH) 214 99.2 59.2 44.7 131 54.5 36.5 25.6 18.9 94.6 40.5 25.7 18.6 14.7 58.0 29.8 18.7 13.6 10.7 28.1
Ke (NOM) = 98 V/krpm Ke (V/krpm) 98.0
Rated Torque (Nm) 1.1 2.0 2.8 3.5 2.0 3.9 5.4 6.8 8.1 3.0 5.5 8.1 10.4 12.6 5.4 9.0 12.2 15.8 18.0 19.2
Stall Current (A) 0.8 1.4 2.0 2.5 1.5 2.7 3.7 4.7 5.7 2.2 4.2 5.9 7.8 9.6 4.0 6.8 9.6 12.4 14.7 13.7
Rated Power (kW) 0.35 0.63 0.88 1.10 0.63 1.23 1.70 2.14 2.54 0.94 1.73 2.54 3.27 3.96 1.70 2.83 3.83 4.96 5.65 6.03
R (ph-ph) (Ohms) 60.8 20.1 10.5 7.5 24.5 6.80 4.00 2.50 2.00 12.6 3.86 2.02 1.40 1.10 5.63 1.72 0.94 0.61 0.44 0.79
L (ph-ph) (mH) 98.4 41.8 27.6 19.7 57.9 24.3 15.5 10.9 8.50 43.1 18.6 11.4 8.60 7.40 31.0 13.3 8.30 6.10 4.80 13.2


Rated Torque (Nm) 1.0 1.7 2.3 2.9 1.8 3.0 4.0 4.9 5.7 2.5 4.7 6.3 7.5 8.7 3.6 7.0 8.9 10.7 12.2
Stall Current (A) 1.0 1.9 2.6 3.3 2.0 3.6 5.0 6.3 7.5 3.0 5.5 7.9 10.4 12.8 5.3 9.0 12.8 16.5 19.5

Rated Power (kW) 0.42 0.71 0.96 1.21 0.75 1.26 1.68 2.05 2.39 1.05 1.97 2.64 3.14 3.64 1.51 2.93 3.73 4.48 5.11
R (ph-ph) (Ohms) 36.8 10.5 6.30 4.20 12.7 4.08 2.10 1.50 1.03 6.91 2.14 1.16 0.73 0.57 3.12 1.00 0.53 0.35 0.24
L (ph-ph) (mH) 54.9 24.8 14.9 10.8 31.5 13.6 8.50 6.30 4.80 23.5 10.2 6.60 4.70 3.90 17.6 7.50 4.70 3.60 2.70
Stall Current (A) 1.5 2.8 3.9 4.9 2.9 5.4 7.4 9.4 11.3 4.4 8.3 11.8 7.9 13.5 N/A
Rated Power (kW) 0.57 1.01 1.32 1.63 0.82 1.32 1.76 2.07 2.32 1.38 2.51 3.20 1.82 2.83 N/A
R (ph-ph) (Ohms) 15.0 5.00 2.66 1.90 5.45 1.82 1.05 0.62 0.48 3.1 0.97 0.50 1.42 0.46 N/A
L (ph-ph) (mH) 24.0 10.6 6.80 4.80 14.1 6.00 3.80 2.70 2.10 15.54 4.81 2.94 7.72 3.44 N/A
N/A Not Available Consult factory CT Dynamics Limited have an ongoing process of development and reserve the right to change the specification without notice.

UNIMOTOR DIMENSIONS (MM)
C N A (MAX)
F SIGNAL
CONNECTOR
D POWER
CONNECTOR
C DANGER CAUTION
K E P 75.0
High Voltage This machine runs hot
UNIMOTOR UM
DO NOT USE
COVER FOR LIFTING
4 HOLES 'H'
EQUI-SPACED
ON A 'J' P.C.D.
Ref Description 75A 75B 75C 75D 95A 95B 95C 95D 95E 115A 115B 115C 115D 115E 142A 142B 142C 142D 142E 190A
A Length overall (unbraked) 211 241 271 301 222 252 282 312 342 242 272 302 332 362 225 255 285 315 345 273
A Length overall (braked) 241 271 301 331 252 282 312 342 372 272 302 332 362 392 285 315 345 375 405 327
C Flange Square 75 75 75 75 95 95 95 95 95 115 115 115 115 115 142 142 142 142 142 190
D Flange Thickness 7 7 7 7 9 9 9 9 9 11 11 11 11 11 12.3 12.3 12.3 12.3 12.3 14.5
E Register Diameter (J6) 60 60 60 60 80 80 80 80 80 95 95 95 95 95 130 130 130 130 130 180
F Register Length 2.4 2.4 2.4 2.4 2.9 2.9 2.9 2.9 2.9 2.9 2.9 2.9 2.9 2.9 3.4 3.4 3.4 3.4 3.4 4.0
H Fixing Holes Diameter (H14) 5.8 5.8 5.8 5.8 7 7 7 7 7 10 10 10 10 10 12 12 12 12 12 14.5
J Fixing Hole p.c.d 75 75 7.5 75 100 100 100 100 100 115 115 115 115 115 165 165 165 165 165 215
K Overall Height 126 126 126 126 146 146 146 146 146 166 166 166 166 166 193 193 193 193 193 256
N Shaft Length (front) 23 30 30 30 30 40 40 40 40 40 40 40 50 50 50 50 50 50 50 58
P Shaft Diameter (front) 11 14 14 14 14 19 19 19 19 19 19 19 24 24 24 24 24 24 24 32

MAx and UNIMOTOR SELECTION

Motor Type (#) Stall Stall Peak Torque @ Standard Motor Preferred stocking frames are B
Reference 3000rpm Drive Torque Current Torque 3000rpm Inertia(*) Weight and D. For other combinations -
No. Kt (1.6Nm/A rms) Type (Nm) (Arms) (Nm) (Nm) (kgcm2) (kg) consult Drive Centre.
1 75SLA300CBPAA MAx 403 1.2 0.8 3.6 1.1 0.6 3.5 (#): Motors in table are
connectorised, no brake,
2 75SLB300CBPAA MAx 403 2.2 1.4 6.3 2.0 1.0 4.3
no key - plain shaft, IEC flange,
3 75SLC300CBPAA MAx 403 3.1 2.0 8.4 2.8 1.5 5.1 standard inertia.
4 75SLD300CBPAA MAx 403 3.9 2.5 10.8 3.5 1.9 5.8 Other base speeds are
2000rpm (2.4Nm/A rms),
5 95SLA300CBPAA MAx 403 2.3 1.5 6.9 2.0 1.4 4.7 4000rpm (1.2Nm/A rms);
6 95SLB300CBPAA MAx 403 4.3 2.7 11.2 () 3.9 2.5 6.1 6000rpm also available
7 95SLC300CBPAA MAx 406 5.9 3.7 17.77 () 5.4 3.6 7.3 Options available: Brake, cable
assemblies, planetary
8 95SLD300CBPAA MAx 406 7.5 4.7 20.7 6.8 4.7 8.8 gearboxes, keyed shaft
9 95SLE300CBPAA MAx 406 9.0 5.7 20.8 () 8.1 5.8 10.4 (): Motor is capable of higher
peak torques when used with
10 115SLA300CBPAA MAx 403 3.5 2.2 11.2 () 3.0 3.2 7.3
next higher rating M'Ax.
11 115SLB300CBPAA MAx 406 6.6 4.2 19.8 5.5 5.5 8.8 (*): Higher inertia rators are
12 115SLC300CBPAA M'Ax 406 9.4 5.9 20.8 () 8.1 7.8 10.6 available as options.
13 115SLD300CBPAA MAx 409 12.4 7.8 30.4 () 10.4 10.0 12.5
14 115SLE300CBPAA MAx 412 15.3 9.6 40.4 () 12,6 12.3 14.2
15 142SLA300CBPAA MAx 406 6.3 4.0 18.9 5.4 7.8 9.4
16 142SLB300CBPAA MAx 409 10.8 6.8 30.4 () 9.0 14.1 12.1
17 142SLC300CBPAA MAx 412 15.3 9.6 40.0 12.2 20.5 14.7
18 142SLD300CBPAA MAx 412 19.8 12.4 40.0 15.8 26.8 17.6

MAx and UNIMOTOR SLM SPEED TORQUE CURVES

7 9 11
6 8
480 V 480 V 9 480 V
7
Torque (Nm)
Torque (Nm)
Torque (Nm)
Torque (Nm)
5 380 V 380 V
380 V 6
7
3 4 5
3
2 3
2
1 1
0 0 0
0 1000 2000 3000 4000 0 1000 2000 3000 4000 0 0 1000 2000 3000 4000
(5) 95SLA300 with MAx 403 (6) 95SLB300 with MAx 403 (7) 95SLC300 with MAx 403
7 12 22
6 10 18 380 V
Torque (Nm)
480 V
Torque (Nm)
480 V
Torque (Nm)
5 380 V 480 V
380 V 8 14
6 10
3
4 6
2
1 Continuous Torque 2 Continuous Torque 2 Continuous Torque

0 0
0 1000 2000 3000 4000 0 0 1000 2000 3000 4000 0
0 1000 2000 3000 4000
(8) 95SLD300 with MAx 406 (9) 95SLE300 with MAx 406 (11) 115SLB300 with MAx 406
22 22 22
18 480 V 18 380 V 18 480 V

Torque (Nm)
Torque (Nm)
Torque (Nm)
Torque (Nm)
Torque (Nm)
380 V 480 V
14 14 14 380 V
10 10 10
6 6 6

2 2 2
0 0 0
0 1000 2000 3000 4000 0 1000 2000 3000 4000 0 1000 2000 3000 4000

(12) 115SLC300 with MAx 406 (13) 115SLD300 with MAx 409 (14) 115SLE300 with MAx 409
22 40 40
18 380 V
480 V 480 V
Torque (Nm)
Torque (Nm)
Torque (Nm)
480 V 30 30
14 380 V
Intermittent Torque Intermittent Torque 380 V Intermittent Torque
10 20 20
6
10 10
2
0 0 0
0 0 1000 2000 3000 4000 0 1000 2000 3000 4000 0 1000 2000 3000 4000
40 40 40
480 V 480 V
Torque (Nm)
Torque (Nm)
Torque (Nm)
30 480 V 30 30
380 V 380 V 380 V
20 20 20
10 10 10
0 0 0
0 1000 2000 3000 4000 0 1000 2000 3000 4000 0 1000 2000 3000 4000
40C Ambient, up to t100; 10% tolerance on all performance data

MultiAx and UNIMOTOR SELECTION
Motor Type (#) Stall Stall Peak Torque @ Standard Motor

Reference MultiAx
3000rpm Torque Current Torque 3000rpm Inertia(*) Weight
No. Type
Kt (1.6Nm/A rms) (Nm) (Arms) (Nm) (Nm) (kgcm2) (kg)
1 75SLA300CBPAA MultiAx SAC 1.2 0.8 3.6 1.1 0.6 3

2 75SLB300CBPAA MultiAx SAC 2.2 1.4 6.3 1.9 1.0 3.7
3 75SLC300CBPAA MultiAx SAC 3.1 2.0 9.3 2.5 1.5 4.4
4 75SLD300CBPAA MultiAx SAC 3.9 2.5 11.7 3.3 1.9 5.1
5 95SLA300CBPAA MultiAx SAC 2.3 1.5 6.9 2.1 1.4 5.0
9 95SLE300CBPAA MultiAx SAC 9.0 5.7 25.2 7.6 5.8 9.5
14 115SLE300CBPAA MultiAx HAC 15.3 9.6 45.9 11.4 12.3 13.2
17 142SLC300CBPAA MultiAx HAC 15.3 9.6 45.9 12.2 20.5 15.5
18 142SLD300CBPAA MultiAx HAC 19.8 12.4 48.0 15.8 26.8 17.8
19 142SLE300CBPAA MultiAx HAC 23.4 14.7 48.0 18.0 33.1 20.5

20 190SLA300CBPAA MultiAx HAC 21.8 13.7 48.0 19.2 50.0 26.0

Preferred stocking frames are B and D. For other combinations - consult Drive Centre.
(#): Motors in table are connectorised, no brake, no key - plain shaft, IEC flange, standard inertia.
Other base speeds are 2000rpm (2.4Nm/A rms), 4000rpm (1.2Nm/A rms); 6000rpm also available
Options available: Brake, cable assemblies, planetary gearboxes, keyed shaft
(*): Higher inertia rotors are available as options.

MultiAx and UNIMOTOR SLM SPEED TORQUE CURVES
(2) 75SLB300 with MultiAx SAC (3) 75SLC300 with MultiAx SAC (4) 75SLD300 with MultiAx SAC
7 9 9
6 8 8
480 V 480 V 480 V
7
Torque (Nm)
Torque (Nm)
Torque (Nm)
5 380 V 380 V
380 V 6 6
5
3 4 4
3 3
2
2 2
1 1
0 0 0
0 1000 2000 3000 4000 0 1000 2000 3000 4000 0 1000 2000 3000 4000
(6) 95SLB300 with MultiAx SAC (7) 95SLC300 with MultiAx SAC (8) 95SLD300 with MultiAx SAC
18 18 22
16 16
380 V 18 480 V
14 14
Torque (Nm)
Torque (Nm)
Torque (Nm)
480 V 380 V
12 12 480 V
380 V 14
10
8 8 10
6 6
4 6
4
2 2 2
0 0 0
0 1000 2000 3000 4000 0 1000 2000 3000 4000 0 1000 2000 3000 4000
(9) 95SLE300 with MultiAx SAC (11) 115SLB300 with MultiAx SAC (12)115SLC300 with MultiAx SAC
30 22 30
25 18 480 V 25
Torque (Nm)
Torque (Nm)
480 V 480 V
Torque (Nm)
20 380 V 380 V 20 380 V

Intermittent Torque 14 Intermittent Torque
Intermittent Torque
15 15
10
10 10
6
5 Continuous Torque Continuous Torque 5 Continuous Torque

2
0 0 0
0 1000 2000 3000 4000 0 1000 2000 3000 4000 0 1000 2000 3000 4000

(13) 115SLD300 with MultiAx SAC (16) 142SLB300 with MultiAx SAC (17) 142SLC300 with MultiAx HAC
40 40 50
40
480 V
Torque (Nm)
480 V
Torque (Nm)
Torque (Nm)
30 30 480 V
380 V 380 V
Intermittent Torque 380 V Intermittent Torque 30 Intermittent Torque
20 20
20
10 10
10
0 0 0
0 1000 2000 3000 4000 0 1000 2000 3000 4000 0 1000 2000 3000 4000
(18) 142SLD300 with MultiAx HAC (19) 142SLE300 with MultiAx HAC (20) 190SLA300 with MultiAx HAC
50 50 50
40 40 40
480 V 480 V 480 V
Torque (Nm)
Torque (Nm)
Torque (Nm)
380 V 380 V 380 V

30 Intermittent Torque 30 Intermittent Torque 30 Intermittent Torque
20 20 20
10 10 10
0 0 0
0 1000 2000 3000 4000 0 1000 2000 3000 4000 0 1000 2000 3000 4000
40C Ambient, up to t100; 10% tolerance on all performance data

Unimotor Power Cable selection

PS B A A A 015
2
D * - 10.0 mm2 52A
E * - 16.0 mm2 70A

2
F** - 2 x 1mm Unscreened
Drive End Motor End

C
X Cut end


Unimotor Signal Cable selection

SI B A A A 015



0.4m for DS to DM
Conversion cable
Drive End Motor End

K RJ45 connector
X Cut end

Motion Control Despite these major improvements, the cry from the market is
still more, in terms of feedback resolution and performance,
with partner and less, in terms of wiring and total installed cost. In case of
PC based and PC hosted motion control this element is
OVERVIEW Control Techniques unique .
Control Techniques is furthering the growth of PC based and
Transfer Technology
PC hosted motion technology and delivering more value to
customers with a series of partnerships which match the The success of MAx and MultiAx, indicates that the
companys revolutionary (speed loop motor) system with revolutionary performance enhancements provided by
PC based multi-axis controllers from the leading motion benefits customers by being transferred
control system suppliers in the world, including: into other motion vendors products. The exciting thing about
these partnerships is the way in which they bring together
several cutting edge technologies, in the process delivering
more benefits to OEMs and End Users.
Compatible Motion Controllers

Motion Control with
Select, no. of axis

and MAx & MultiAx
combinations to
The marriage of with motion control suit applications
technologies is an ideal one, achieving a synergy which gives
OEMs that extra competitive edge through improved
machinery performance. It also accelerates the increasing trend
Partners
of replacing PLC systems with PC based architectures. For

years, centralised motion control has been performed using
M'Ax
M'Ax
M'Ax
PLCs which, because of the proprietary nature of their

MultiAx
MultiAx
architectures and software, have effectively locked users into

M'Ax
M'Ax
M'Ax
an increasingly costly and lower level of technology. Recently

the combination of high speed PC hardware and softlogic
programming packages has released this gridlock, driving
centralised control technology forward to new levels.This is
especially true in the area of motion control, where open
based and PC hosted controllers are revolutionising the
market with their ability to synchronise and interpolate ever
increasing numbers of machine axes in real time.

technology Your Control Benefits
OVERVIEW Perfect trajectory following high resolution feedback

The uses a combination of Control
Perfect linearity on velocity feed forward
Techniques 4-wire, ASIC and motor-mounted SinCos
Perfect dynamic response on acceleration feed forward
encoders to achieve an application invariant 20-fold increase in High control loop bandwidth to achieve sub micron
precision on position
position feedback resolution (over 8.3 million points per
revolution).This is achieved by integrating speed & position control Reduced machine vibration - ultra smooth operation
within the feedback system on-board the servomotor. As a result,
the is able to overcome the degradation in performance
experienced, with encoder feedback signals when synchronising
multiple servo axes on machines as operating speeds increase.
For the ultimate interpolated multiaxes performance, control
loops are deterministic and synchronised to give the lowest jitter
in the industry - of 50 nanoseconds.
Partners
MAx/MultiAx
4 wire 2.5 M Baud SERIAL
+24V
POWER STAGE
0V
4 wire

Partners
Dataflow
Chart
UVWE
4 wire (power)
Motion Control with

NOITUAC REGNAD
ESU TON OD
GNITFIL ROF REVOC

Data Frame
Host can request
information

Drive Drive
Transmission Status
Position Current Demand Parameter Passing Parameter Passing

23S 45S 34S 23S
CYCLE TIME 125S

PRECISION MOTION CONTROL
Trios Motion Co-ordinators are fast, powerful and reliable. Easy to install and program, they share a range of common features
that ensure maximum system performance with minimal programmer training and simple system upgrades.
The Trio Advantage:

Choice of 2 Motion Co-ordinators
Both accept 3 Axis Daughter Boards
Approved for use with MAx and MultiAx
M'Ax
M'Ax
M'Ax
MC 206 +1 Daughter Board = 3 axes

MC 224 +4 Daughter Board =12 axes
Axes not used by drives can be used for
analog drives and additional communications interfaces

Use Digital Signal Processors (DSP)

Motion Control with
Allow Servo / Stepper combinations

Have accurate, fast Real Number mathematics
256 max. Digital I/O expansion channels
32 max. Analog Input expansion channels
Program transfers by a Flash Memory Stick
Partners
MultiAx
MultiAx
M'Ax
M'Ax
M'Ax
M'Ax
M'Ax
M'Ax
Up to 12 Digital Drives can be controlled with SLM

Daughter Boards in MC224 Motion Coordinator

TRIO MOTION CO-ORDINATORS - FEATURES

Trio Daughter Boards:
MC 206 P200 - Servo with Encoder P270 - SSI Absolute Servo
DIN rail mounting, 120 MHz DSP, extensive communications P210 - Servo with Resolver P280 - Differential Stepper
P220 - Reference Encoder P290 - 4-axis
options and up to 8 axes of stepper or servo control make P230 - Stepper Output CAN/CANopen
this deservedly one of the worlds most popular P240 - Stepper with Encoder P292 - 3 axis
Motion Co-ordinators. P242 - Hardware PSWITCH P296 - Ethernet
P260 - Analog Output P297 - Profibus
Equipped as standard
Motion Perfect
with a single axis and a
All Trio Motion Co-ordinators are programmed in Trio BASIC,
reference encoder, the
a simple language which allows users to achieve remarkable
MC206 may be fitted
results with minimal training.
with a Trio
Daughter Board to Easy to learn, multitasking BASIC produces highly flexible
provide 3 further axes program functionality, often in fewer code lines than many
ideally suited to Control Techniques digital drive systems. other systems.
For analogue systems, the standard axis provides the necessary
By using the same language for all Motion Co-ordinators,Trio
10V speed/torque control signals to the drive.
have significantly reduced training times for each new product.
A further 3 axes may be accessed using Trios unique internet- Trio has also produced MotionPerfect, an application
based Feature Enable Code system, which permits authorised development environment which employs the Windows
customers to download an access code to provide the exact graphical user interface to
number of additional axes required for the application. further simplify the
programming process.
Daughter Board This offers a program editor,

Trios Daughter an axis tuning page, program
Partners
Board provides the vital tracer, oscilloscope function,
link between Motion and a keypad emulator.
Co-ordinator and your
Motion Control with

MotionPerfect makes it easy
Control Techniques
to set-up and commission
digital drive.
drive systems by providing an
interactive drive set-up wizard.
One Daughter Board will control up to 3 axes with each having
The program allows fast automatic
an independent channel to achieve the high speed update
initialisation and takes full
of 125 S. Up to 12 - based axes may be used in a Trio
advantage of the plug and play
MC control system.
features built in to the MAx and
MultiAx servo drives.
MC 224
Up to 12 axes using Additional modules such as CAMGEN, to assist with
150 MHz DSP and up to 4 Daughter programming CAM profiles, DocMaker program analyser and
Boards for the ultimate in configuration report generator, and Cad2Motion, to translate CAD drawings
flexibility with a wide range of into BASIC programs are also available. MotionPerfect software
communications options. is supplied for download free of charge from the Trio website at:
Axis Expander modules allow up to

www.triomotion.com
4 additional Daughter Boards per
module with 4 Axis Expanders per
Motion Co-ordinators.

OPEN PC MOTION CONTROL WITH

MAx AND MultiAx SERVOS Highlights
Fast, multiple axis synchronization over
FireWire @400 Mb/sec
Fully digital interface to servo drive
with, eliminates
+/-10 V analog reference
6 axis unit, connectable up to 256 axis
Open PC-based motion control
software environment supported by
Windows NT, NT Embedded,
Windows 2000 and Windows XP
Real-time, deterministic communication
and control between multiple CT3000
Motion Controllers
Easily expandable with other 3rd party
FireWire products
Simple to set up, seamless integration,
less wires, lower cost!
Full digital chain

Introduction
All servo drives based on the
The CT3000 Motion Controller is designed for advanced
can be controlled by the CT3000. MultiAx servo drives
multi-axis solutions in combination with servo drives based on
(triple axis unit) can be connected to the CT3000 by a single
the . The intelligence of the CT3000
communication cable (10 core screened).This reduces cable

Motion Control with
takes care of the real-time, high-speed synchronisation and

count and installation costs, as the many control connections
interpolation required between the axes.The industry standard
between Motion Controller and drive are replaced by one
high-speed IEEE-1394 FireWire network connects the CT3000
communication cable. Furthermore, the feedback between the
to the open PC-based platform.
servo drive and motor utilises 4 core screened cable
simplifying cable requirements.
FireWire based Motion Control networking
Partners
FireWire networking technology has ignited the Motion With very high resolution feedback
Control market in virtually every machine control application (8.3M counts per revolution, velocity loop) delivers extremely
domain today.The new CT3000 Motion Controller offers a high performance and smooth rotation for demanding multi
range of characteristics and functions specifically designed for axis applications.
OEM motion engineers.The FireWire network allows
sample-synchronous multiple-axis Motion Control. Real-time, The CT3000 is equipped with all types of connectivity to
deterministic communication and control between multiple realise high-end control. For every axis, there are
Motion Controllers is fully supported. An open interface motion related I/O available, like limit-switch, position latch,
towards the Motion Controllers is provided for Microsoft markers, etc. Additional encoder inputs for electronic gearing
Windows NT, NT Embedded, Windows 2000 and and some general purpose I/O (digital and analogue)
Windows XP. complement the I/O. Other general machine I/O is
connectable over the FireWire network.

CT3000- DESIGN FEATURES
Compatible
Motion Control
Drive Chain Functionality with
MAx and MultiAx
Designed for OEM
applications, the CT3000
Motion Controller is
compatible with Control
Techniques MAx and MultiAx
range of servo drives.
One CT3000 is able to
control up to six axes.
Controller interconnection
by FireWire enables you to
build applications up to
256 synchronised axes.
SPECIFICATION
Number of axes: 6 Axes interfaces to control
NYCeTalk Rapid - based servo drives
Application Transmission procedure: Standard FireWire communication
Development according to IEEE1394a, up to
Environment 400 Mbit/s

Functionality: Full NYCe3000 Software Release
Partners
support
Diagnostics: Full support for CT3000, MultiAx
and MAx servo drive series
I/O: Motion Related I/O per -Axis:
Motion Control with

-6 Digital inputs (1 position latch,
1area, 1 alarm, 3 free)
-3 Digital outputs (all general
purpose)
Its Easy to Use
General I/O:
The CT3000 Motion Controller is supported by -Additional encoder input
the NYCeLauncher application development (S0S90,SSI,ENDAT)
-6 Digital inputs
environment. Automatic installation from CD-ROM
-3 Digital outputs
enables OEM users to get the system up and -2 Analogue outputs (16 bit)
running within 30 minutes. -2 Analogue inputs (12 bit)
All inputs conform IEC1131-2, 24
Volt isolated.
To assist in commissioning there is a NYCeTuner All outputs conform IEC1131-2, 24
wizard that guides you step by step through the Volt isolated, short circuit
axis set up. Without programming this tool allows protected.
Every output 0.5 A.Total load 4 A.
the easy testing of all axes. Writing application
External Expandability: Expandable with other FireWire
programs is made easy by the NYCeTalk software. products
High level interpreter commands are easy to Mechanical dimensions: h=273, d=247, w=75 (mounting
understand and may result in application programs plate 360 x 75)
Minimum clearance above and
of only a few lines.The software also has watch-
below 100 mm
windows (I/O and status) and on-line help. PSU Requirements: 24 Volt DC, +/-20%, 1 Amps
(excluding I/O)

SYSTEM LEVEL SOLUTIONS Each UMAC system is expandable and scalable by adding
accessory cards to a rack or by connecting multiple racks
The UMAC System
together via Delta Taus real time fiber optic field bus
The UMAC (Universal Motion and (MACRO). In addition, a PC/104 computer can be installed
Automation Controller) is a modular inside the UMAC system rack yielding an incredibly powerful
system designed for you to customize controller within a compact industrial package.
to your application needs. UMAC
utilizes the latest in DSP technology, ACC-69E Interface
including the Motorola 56k series DSP
The ACC-69E Axis Expansion Board provides three or six
microprocessors. Its fast and precise
channels of servo interface circuitry for UMAC controllers.The
calculation capabilities translate into a
ACC-69E is part of the UMAC or MACRO Pack family of
highly accurate and fast-paced motion
expansion cards and these accessory cards are designed to
trajectory calculation and control. In
plug into an industrial 3U rack system (UBUS).The information
addition, we use a high-level BASIC-like
from these accessories is passed directly to the Turbo PMAC2
language for performing real-time custom servo loop tasks in
CPU via the high speed UBUS back plane
an Open Servo structure. Our continuously increasing
computational speeds (40-160 MHz) enable our motion
controllers to have many advanced features.
With six generations of proven in-the-field motion controllers,

we offer a broad and diverse line of motion control products.
From 1 to 32 axes of linear or rotary servo, stepper or
hydraulic motion in any combination, including a variety of
analog or digital I/Os, different types of encoder feedback,
analog (+/-10 V) and digital ( , direct PWM or MACRO)
outputs to servo amplifiers, as well as pulse and direction

Motion Control with
output for steppers. Also, RS232, USB and Ethernet

communications. We can provide the best solution for today,
with the best upgrade path to the future.
Partners
USB POWER SUPPLY
SPARE SLOTS
I/O
ETHERNET
TURBO PMAC2 CPU AXIS INTERFACE
MACRO FIBER FIELD BUS
INTERFACE SYSTEM LEVEL SOLUTION

UMAC DESIGN FEATURES

Features
Advanced PID and pole placement servo algorithms
Multitasking of up to 16 motion programs and 64 PLC
Up to 32 axes of control in 16 coordinate systems
(multi-axis trajectory control, multitasking)
Dynamic multi-block lookahead for robust
acceleration control
Forward and inverse kinematics (robotics and other
non-Cartesian actuators)
Reverse and retrace capabilities (welding, cutting, EDM)
Acceleration and jerk control (smooth, jerk-free motion)
Cascaded servo loops (tight coupling of velocity/
force loop)
True S-curve acceleration-splines (smooth
trajectory control)
Coordinate translation and rotation (2D and 3D)
Lead screw and backlash compensation
24-bit hardware position- and compare capture
48-bit floating point and integer calculations (precision)
TURBO UMAC WITH USB AND ETHERNET
User-written servo capabilities for custom servo algorithms
Servo loop update rate up to 6.25 microseconds per axis

Partners
Types of communications: USB, Ethernet (UDP/TCPIP)
or RS232
The ACC-69E Interface Board
Motion Control with

Up to six ACC-69E boards may be connected to one
UMAC, providing up to 32 axis channels of servo interface
circuitry.The ACC-69E board contains a micro-controller and it
has a highly integrated 6-channel PMAC2-style memory map.
The ACC-69E plugs into the back plane and uses one slot a
UMAC Rack.The ACC-69E comes standard with 6 servo
12 AXIS WITH UMAC
interface channels, which are brought out on high density
15-pin DSUB connectors.
Velocity-based output commands (selectable to Torque

mode by user)
High-resolution absolute encoder feedback (up to 22 bits)
4 channels of timestamp based trigger position
capture capability
4 differential trigger inputs provided for position capture.
Interface for the communication to / from the MAx or
MultiAx drives
3 input flags (PLIM, MLIM, HOME) per channel UMAC MACRO

NcWorks2 AND - THE Synchronised Networking for modularity

PLATFORM FOR MULTI-AXIS NcWorks2 Units can be distributed decentral, but are working
APPLICATIONS synchronously anyway.The units are connected via Macro
(a fibre optics, high bandwith real time bus) - a bus for distinct
real-time applications.
This means 24 synchronised -Axis per NcWorks2 -

Unit in synchronised networking with up to 256 NcWorks2...
For Multi-Axis applications exactly right Multi-Axis application in a new dimension.
The modular Multi-Axis Controller NcWorks2 offers a
reliable, extendable Motion-Control system for demanding
Multi-Axis applications.
The Main Unit (a complete controller for 8 Axis with -

outputs, I/O's, Ethernet Port) and the -Extension give
you an almost as desired scalable system. Each machine
obtains exactly what it requires in control facility no less
and no more.
Successful systems as one unit

The controller joins succesful systems from the market to one
unit.The CPU used is PMAC from Delta Tau, communication
to the Motion-Controller takes place via Ethernet, MACRO
connects several NcWorks2 units synchronously and the
drives are integrated digitally with .

Motion Control with
Prepared for todays challenges

The combination of NcWorks2 and -Drives embodies the
trend at the present time:
compact in size
modular in structure NcWorks 2
Partners
Main Unit +
synchronised networking -Extension
Ethernet-based communication to controller
Main Unit -Extension

8 -Axis 16 -Axis
46 digital in, 8 analog in 48 digital in
30 digital out 24V / 0.5A, 8 digital out 24V / 1.5A 32 digital out 24V / 0.5A, 16 digital out 24V / 1.5A
Ethernet, CANopen, Modbus
Synchronised networking of Main Units via MACRO

NcWorks2 MAIN UNIT - DETAILS

I/O-Section
Socket Block Tension Clamps for 46 digital in,
38 digital out; 8 analog in
additional
NcWorks
CPU 2-Units
The core unit of the NcWorks2 System is the PMAC multi
axis controller from Delta Tau. Apart from the simple
management and programming facility for the axis, the
operating system also offers many other additional functions:
up to 32 synchronised axis in 16 different
coordination systems
synchronous network
MACRO-Bus for synchronised networking
IEC61131-compatible PLC- functionality of several autonom Main Units
G-Code for CNC-control

acceleration profile selection
Lookahead acceleration-and speedoptimisation
PWM-Section
inverse kinematics for robot technology
Encoder-input
spline- and blending-functions
PWM-output
capture-input for fast I/O's
The NcWorks 2 main unit contains 2
encoder inputs for quadrature encoders
as well as 2 differential outputs for
direct-PWM
-SECTION

The Main Unit controls up to 8 -Axis.
Partners
Interface-Section
There is no need for a linkage of the encoder to the
controller because the encoder values are transferred
Ethernet
serial via the datalink.

RS 485
ModBus
Motion Control with

CANopen
NcWorks2 AND :
communication to the Motion-Controller via Ethernet
unbeatable cost- / performance ratio
the sizes of cabinets have previously always been more
than halved upon fitting
NcWorks 2 and Multi-Ax www.pantec.com
enhancement up to 24 -Axis
synchronised networking of NcWorks 2 - units via
MACRO-Bus
more than 1500 NcWorks-units (about 12'000 Axis)
in different applications worldwide in use

XCx
THE CONTROLLER OF THE FUTURE
Control NC Servo Drives

Using from Control Techniques
available on the XCx 540 and XCx 300.
Connects the Sensor / Actuator Level

Puts Speed in Your Machine through fast serial-connected I/Os (or via CANopen, Profibus-
1 (2)* millisecond PLC signal time from input to output on DP and DeviceNet only on XCx300 and XCx 540).
plant-floor I/Os, 1 (2)* millisecond CNC interpolation cycle.
Communicates
Motion Control with
Interpolates via Ethernet and TCP/IP in any factory network, via Profibus-
Up to 16 (4)* CNC axes in different NC programs at the DP and CAN in any system.
same time.
Visualises @ Web
Synchronises in HTML and Java on any standard browser via its own web
interpolated movements with switching process, e.g. position- server and via OPC server for Windows via Ethernet.
Partners
dependent value switching or position detection with

interrupt input. Alarms
by text message to mobile or by e-mail with detailed messages
Coordinates such as No coolant.
path motions with technology parameters, e.g. welding current
according to path feedrate. Records
Via serial interface directly to a connected printer.
Processes
not only circular and helical contours, but also freeform
contours.
Transforms
any machine kinematic into Cartesian coordinates.
*( ) refers to XCx 300 unit

DESIGN FEATURES Compact Flash

The operating system and user data are saved on a
RS232 Interface compact flash. The high memory capacity of the
The RS232 interface is for serial connection of programming devices, cards means that other data such as project
logging printers and barcode readers. documentation, maintenance manuals and the HTML
and Java scripts of the web server is also available
directly on the controller.The compact flash (CF) can be plugged and
Mounting
unplugged during operation and the system status is available on the PLC.
Mounting via DIN rail or using fixing holes.
Data that should be saved automatically on the CF (e.g. Log book) is saved on
Diagnostics the controller RAM and transferred automatically when a CF is available again.
For on-site diagnosis, parameterising and testing the XCx sets
The LEDs on top display the status of compact flash, RIOdirect and CAN
up a reliable interference-free connection to external devices
network and modules.
such as mobile phone, palmtop and laptop via the infrared
interface. The LEDs give information on the CPU and PLC
status, as well as the activity of the interrupt input/outputs.
Operating Mode Switch

The three-position operating mode switch. The PROG setting means PLC
stop, programming mode. WARM is the default setting (warm start of PLC,
retain variables), while COLD causes cold start of the PLC and the variables
are deleted.The reset button under the front opening causes a hardware
reset, equivalent to power off.This button functions only in PROG mode.
Operator Panels
The RS422 interface is for direct connection of
operator panels and displays.
USB
The XCx can communicate with active terminal
devices such as laptops via the USB port.The

Ethernet
Partners
connection corresponds to USB version 2.0 with a IT networking is via Ethernet and TCP/IP with
type B connector. 100 Mbit/s (RJ45 connection).You can connect several
controllers directly (via global PLC variables) or via a
RIOdirect
PC network. OPC servers then undertake
The RIOdirect interface
Motion Control with

communication with standard programs for
allows you to connect visualization and operation.
eight digital or analog
modules via a special
interface module.
SLM Module
The XP-DL module from
Supply Voltage
Control Techniques is a high-speed
Operating voltage 24 V DC 20% max. 5% residual ripple
interface for four servo drives.
Safety class IP 20 to EN 60529
Dimensions XCx 300 150 x 125 x 129 mm

(W x H x D) XCx 540 274 x 125 x 129 mm
Expansion Slots
Climatic Conditions The XCx 540 offers four expansion slots for a wide range of modules.
Ambient operating 0 ... +55 C (category KV to DIN 40040) RIO interface - Together with the integrated interface (see RIOdirect),
temperature further RIOdirect interface modules allow up to 640 fast I/O channels.
Relative humidity 5 to 95%, no condensation
Field bus and drive interface
Electromagnetic Compatibility CANopen (also for drives) PROFIBUS-DP
Electrostatic discharge
Electromagnetic fields
meets IEC/EN 61 000-4-2, severity 3
meets IEC/EN 61 000-4-3
SERCOS from Control Techniques
Interference suppression meets EN 55 011, EN 55 022 10 V analog modules

Performance Approx. 0.2 ms (0.5 ms XCx 300)
for 1 K PLC instructions

ISAC CNC Communicates

Via Ethernet and TCP/IP in a factory network
Visualises @ Web
Puts Speed in Your Machine In HTML and Java on any standard browser via its own
web server
6 millisecond PLC signal time from input to output on
plant-floor I/O. 0,3 millisecond CNC interpolation cycle
Alarms
Interpolates
By text message to mobile or by e-mail with detailed message
Up to 12 CNC axes and several axis group by concurring such as No coolant
control between several interpolators.
Synchronises Diagnoses
Interpolated movements with switching process, e.g. Reliably and remotely via Ethernet and mobile phone
position-dependent value switching or position detection
with interrupt input, and dependent movements Records
between axis pair (Gantry) Any meaningful event in a remotely controlled way
Several CNC connected via inter-process
communication Offers
Processes and Interpolates The ease of an unique software for milling and lathe machines
Not only linear, circular and helical contours, but also freeform and for all CNC models.The same PLC thus is valid even in
contours (electronic cam) case of CNC upgrade or downgrade
Transforms
Control NC Servo Drivers
Any machine kinematics into Cartesian coordinates
Via for Control Techniques, via CANopen (DSP402)
Any defined trajectory in a plane X-Y into a

Motion Control with
corresponding trajectory in any rotated and

Helps
translated plane in the space
In developing all the features of an application such as PLC,
Any tool tip trajectory into corresponding actuators
MMI and Working Programs
movement (RTCP functionality)
Executes
Standard ISO commands and parameterised programs
Partners
Connects the Sensor / Actuator level

Via CANopen

ISAC CNC - FEATURES Compact Flash

ISAC CNC are predisposed to the use of Compact Flash: the operating
I/O system and user data are saved on such a mass storage. All the
maintenance manuals and other documentation take place on the same
You can control digital or analogue media and are remotely available
signals via special interface modules
through CANopen
Operator Panel
The screen is
connected via
LVDS interface or
via VGA and the
keyboard is
connected via
USB port
Ethernet

Partners
The networking is via Ethernet and TCP/IP with 100 Mbit/s
(RJ45 connection).The port can be used to connect either
several CNCs or a supervisor PC
USB
Mounting The ISAC CNC can communicate with active terminal devices
Motion Control with

Mounting using fixing holes (such as CD-Rom, Floppy Disk, etc) via USB port
Supply Voltage RS232 Interface

The RS32 interface is for serial connection of programming devices, logging
Operating Voltage 240 V AC (range 85-264)
printers and barcodes readers
Safety Class IP 20 to EN 60529 for Case
IP 65 for operator Panel
LVDS
The LVDS Interface is for TFT screen connection
Dimensions
(W x H x D) (mm)
SAB2001E: 440x215x180 DSP402 for motion control, DSP401 for I/O devices,
SAB2001HS: 434x345x247 DSP305 for layer setting services
SAB2001M: 390x195x130 for Control Techniques motion controls
Climatic Conditions 10 V analogue interface for traditional motion controls
Ambient Operating temperature: 0+45 C.

Relative humidity: 5 to 95% no condensation
Networking
Ethernet connection
Electromagnetic Compatibility Modem
Electrostatic discharge meets IEC/EN 61 000-4-2, severity 3
Electromagnetic fields meets IEC/EN 61000-4-3 Performance
Interference suppression meets EN 55 022 PLC: 80 KB in 0.3 msec
EFT-Burst IEC/EN 61000-4-4 CNC: Block Cycle Time: 500 / sec

PLC Functionality with In more complex applications the modular hardware

Unidrive 6
approach allows scaling of PLC processing power so that it
more precisely matches the demands of the application
OVERVIEW
Space Saving the PLC options for the Unidrive 6 save
space since they are all contained within the drive
Unidrive 6, the AC and Servo drive is the true Solutions Reduce commissioning time Unidrive 6 and its PLC
Platform, offering a wide range of PLC (Programmable Logic options can be programmed together, using intuitive PLC
Controller) solutions giving users unparalleled flexibility in programming language to IEC61131-3
configuring PLC logic and implementing applications. Real cost
and space savings are quickly achievable with the flexible PERFORMANCE
modular Unidrive 6 approach in selecting hardware and The scalablility of the PLC option module range allows
IEC61131-3 software. users to substitute the Unidrive 6 for the smallest Nano-
Ladder
PLCs up to large or advanced PLCs
Function Block
Why Unidrive 6 and PLC
functionality?
Text
Multiple SM-Application option modules and drives can be
networked together as part of a decentralised automation
Unidrive 6 and PLC functionality system in order to communicate and share information
helps maximise your productivity using the standard on-board protocol
and profitability by offering performance The synchronised real time interface between the
and features that can make your machine Unidrive 6 host and the SM-Applications Lite and
run faster and under tighter control. SM-Applications range of SM-Applications option modules are achieved via the
option modules convert your Unidrive 6 drive into a high- internal ultra-fast quad-port RAM. For example, the
performance automation controller, removing the requirement SM-Applications module can retrieve parameter
for expensive PLC hardware and giving you the power and information (such as changes in drive load) from the
performance to enhance the productivity of your machine and Unidrive 6 in 10s (turn around time of a traditional
factory. SyPTLite
Lite and are Control Techniques PLC PLC to drive is approx 2ms)
configuration software products that facilitate these
improvements by allowing you access to real-time processing
and diagnostics.
SAVINGS
Equipment and machinery manufacturers as well
as end-users can achieve lower total component
costs using the no-extra-cost onboard PLC
functions of the Unidrive 6
Overview; Savings; Performance
Level 4
Level 3 option module with
Level 2 multiple drives
ladder SyPTLite
Lite software
Level 1
Lite software

UNIDRIVE - THE SOLUTIONS SM-Applications

PLATFORM DRIVE The SM-Applications module transforms
your Unidrive 6 drive into a powerful
Global voltage availability, 200-690V, with full range of
industrial output ratings see Unidrive 6 section automation controller that adds fast PLC
functionality and can be integrated with
Universal feedback with 12 selectable encoder types including: operator interfaces, remote I/O and other intelligent drives via
- Quadrature, SSI, SinCos, Endat, Hiperface - integration our drive-to-drive network CTNet.This gives you all of the
with your motor feedback virtually guaranteed
benefits of a fully distributed control system including better
Cost and space saving design features including: performance, reduced cost and smaller electrical panel sizes.
- CTNet protocol for decentralised automation Performances
- Secure Disable input as standard to meet The SM-Applications module contains its own high
EN954-1 cat. 3 a must for modern performance microprocessor, leaving the drives own processor
machine builders to give you the best possible motor performance. It contains
- Integral EMC filter as standard meets 384K of user program memory, meaning that you are never
EN61800-3 for global machine conformity likely to be limited by the program size or processing power
of the module.
- Optional Zero-space dynamic braking resistors
Easy Powerful Configuration
- 48 -96VDC operation for low speed
The PLC functionality is programmed using (System
set-up/operation or mains supply back-up
Programming Tool) allowing you to tackle automation problems
- 24VDC back up to maintain power for control,
from simple start and stop sequencing through to more
fieldbus and encoder for commissioning and monitoring
complex machine and motion control applications.The device is
with mains disconnected
programmed within an IEC61131-3 environment with your
Two further option slots for extra I/O and a range of choice of three languages, meaning that you will be quickly
fieldbus options allow for one click upgrades
familiar with the intuitive user interface. provides
- PROFIBUS DP, INTERBUS, CAN, CANopen, DeviceNet, a suite of diagnostic and debugging features for maintenance and
Ethernet, SERCOS, SLM, CTNet to help you get your solution into service faster.
Real-Time Control
APPLICATION CO-PROCESSOR MODULES
SM-Applications gives you real-time access to all of the drives
Control Techniques are market leaders in intelligent drives, with
parameters plus access to data from I/O or other drives.The
an established heritage and reputation in providing the best
module uses a high-speed multi-tasking operating system with
drive performance and automation control from within the
task update times as low as 250s, fully synchronised to the
drives own footprint.The flagship product Unidrive 6 allows
drives own control kernel to give you the best possible
up to three drive-option modules to be simply clicked into
performance for drive control and motion.
place offering you significant advantages:
Inputs /Outputs
Option Modules add only functionality required for The module has two digital inputs and two digital outputs for
Unidrive 6; Application Co-Processor Modules

your application
high-speed I/O operations such as position capture or actuator
Simplify the set up and diagnostics firing and a fast optically isolated RS485 port, supporting
Offer value as you only pay for functionality that you require standard protocols such as: Modbus for connection to external
Allow thousands of combinations of intelligence, fieldbus devices like Operator Interface panels or synchronous
and I/O to be used communication using the protocol.
By using SM-Applications range of option modules you can Standard Solutions
convert from Unidrive 6 drive into a high-performance Where applicable standard software Solutions such as winder,
automation controller, removing the requirement for expensive flying shear and duty assist are available to help to simplify the
PLC hardware and giving you the power and performance to development and commissioning process.
enhance the productivity of your machine and factory. Up to
three SM-Applications modules may be fitted in each drive,
giving you access to the ultimate performance.

The SM-Applications Lite module is
Application Programming
designed to solve your automation
requirements where intelligence is needed
Software
on a standalone drive or a drive connected PROGRAMMING TOOLS AND UTILITIES
to a centralised controller connected via I/O Control Techniques drives help you to maximise your
or Fieldbus. productivity and profitability by offering performance and
The Module provides many of the functions of features that can make your machine run faster and under
SM-Applications but may be programmed using either tighter control. SyPTLiteand
Lite are Control Techniques
SyPTLiteor
Lite . yPTLite
Lite together with SM-Applications Lite PLC configuration software products that facilitate these
gives you an intermediate-level automation solution that is improvements by allowing you access to real-time processing
suitable for a wide variety of automation applications, and diagnostics.
while and SM-Applications Lite will allow you to exploit Free Software
the full power and performance of the option module in stand
SyPTLiteis
Lite a free of charge software package that offers you
alone applications.
simplicity and ease to use with performance suitable for the
Standard Solutions majority of simple applications.
Where applicable standard software Solutions such as winder,
Professional Software
flying shear and duty assist are available to help to simplify the
development and commissioning process. is the professional programming tool that extends the
functionality of SyPTLitewith
Lite network configuration/
management, multi-tasking and multi-language programming
allowing you to fully exploit the drives hardware and
applications option modules.
Example of PLC Functionality with Unidrive 6 The flexibility of the Unidrive 6
SM-PROFIBUS-DP together with the option module
To existing
remote PLC SCADA SM-I/O Plus perfect Solutions Platform for any
automation system.
Remote I/O can be used in almost unlimited
options in order to neatly dovetail
+ + +
into existing automation systems.

Alternatively, when starting out with
Application Co-Processor Modules;
a clean sheet of paper, the

Unidrive 6 can achieve the
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NOITUAC
ESU TON OD
REGNAD
egatloV hgiH
GNITFIL ROF REVOC

NOITUAC
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GNITFIL ROF REVOC

necessary cost and space savings
by allowing the Project Engineer to
accurately match the PLC and I/O
requirements.

Lite
SyPTLite Lite
SyPTLiteWITH UNIDRIVE 6
SyPTLiteis
Lite a ladder diagram editor that allows you to develop ONBOARD PLC
programs that can be executed onboard Commander SK with Unidrive 6 supports ladder-programming capability, i.e. the
Logic-Stick, Onboard the Unidrive 6 built-in PLC or on drive itself is capable of storing and executing a SyPTLite
Lite
SM-Applications Lite option modules. program without the requirement for additional option
modules.The drive is prioritised to execute all motor control
related functions first and will use any remaining processing
time to execute the SyPTLiteladder
Lite diagram as a
background activity.
The SyPTLiteprogram
Lite may be copied to or from the
Smartcard on the drive, allowing the data to be safely
stored or retrieved for serial machine manufacture and
maintenance purposes.
Lite WITH SM-APPLICATIONS LITE

SyPTLite
AND UNIDRIVE 6
SyPTLiteis
Lite designed to meet the needs of the majority of you access to a step change in PLC power and more than
automation users wishing to extend the functionality of the doubling the program size available up to 10kb. Using this
drive to add simple PLC functionality such as drive control and option module gives you the flexibility to decide how your
sequencing.The software has been developed with a definite program task will run, either background or cyclic.The cyclic
focus on intuitive ease of use allowing you easy access all of task means that the program will start on a fixed time-base
the drives parameters and to monitor and debug your that is synchronised with the drives own internal control
program on line. loops.The time-base is selectable
between 1 200ms.
SyPTLitecontains
Lite a comprehensive library of functions
that is based on a subset of those available in the SM-Applications Lite and SyPTLite
Lite
programming tool. offer a compelling alternative to

traditional mini-PLC systems, in
These include:
application where cost, foot print size
Arithmetic Blocks Comparison Blocks or performance is important.
Timers Counters Note: SM-Applications and SM-Applications Lite can only be
Multiplexers Latches used with Unidrive 6.
Bit Manipulation Note: Full SM-Applications does not support
SyPTLiteprograms.
Lite
S Application Programming Software

SyPT2 - SYSTEM PROGRAMMING TOOLKIT Function Block
Overview incorporates an IEC61131-3 function block diagram

editor, and comes with a library of more than 250 function
is the professional drive programming toolkit for
blocks for both simple and complex functions.These embed
OEMs and End Users who wish to maximise the performance
years of application experience to make your software easier
of their machines and factory.This IEC61131-3 programming
to write and easy to re-use. Additionally you can create a
software offers greatly enhanced functionality allowing you to
connect drives, Operator Interfaces and I/O to a network and
configure how they exchange data. allow you to
may be used in any of the three languages.
program in your choice of three different languages, with a
real-time multi-tasking environment. It contains a suite of
monitoring and diagnostics features that help you to reduce
the time it takes to develop your programmes and allows you
to get your machine into service faster.
SM-Applications and SM-Application Lite Option modules
and Mentor II DC Drive with MD29 option modules.
Ladder
incorporates an IEC 61131-3 Ladder language
editor.This form of programming will be familiar to all PLC
programmers and is the ideal format for sequencing
and I/O control.
Industrial Network
network designed to be deterministic, robust and tolerant
to noise and interference. An OPC server is available free
of charge from your local Control Techniques Drive Centre

or Distributor.
Programming
allows you to program in your choice of three
programming languages; these are Function block diagram,
Ladder diagram and DPL (Drive Programming Language), and
offer a multi-tasking environment where the tasks are
scheduled according to the required speed of execution or
triggered by events.

DPL ORDERING
Drive Programming Language is a structured text language, as PLC Functionality
easy to use as BASIC, incorporating many standard constructs, Level Software AC Drive** Option PC to Drive
such as IF,THEN, ELSE, and FOR, NEXT loops. DPL is ideal for (IEC 61131-3) Module Cable
initialising, configuration and general programming. 1 SyPTLite
Lite Unidrive None CT Comms
Free with drive required Cable
Diagnostics and Debugging 2 SyPTLite
Lite Unidrive SM-Applications CT Comms
Good diagnostics are essential and ensure: Free with drive Lite Cable
Software development time is minimised 3 SyPT Unidrive SM-Applications

Lite
CT Comms
Cable
Commissioning time is reduced 4 SyPT Unidrive SM-Applications CT Comms
Downtime is cut dramatically Cable

** For Unidrive information see section 3.1
or go to www.controltechniques.com
System Watch Window

Appication Programming Software

PLC LEVEL 1 PLC LEVEL 2

Functionality Functionality
Create your own PLC Create your own PLC
ladder logic programs on ladder logic programs on
the standard Unidrive the SM-Applications Lite
6 or Commander SK option module
Functions include all Functions include
standard PLC logic standard PLC logic
functions, timers, functions, timers,
counters and many more counters and many more
Replaces relay logic components as well as nano-PLCs and Replaces micro-PLCs and saves space
saves space
Real time PLC to drive communication via internal
The PLCs program is executed as a background task by the dual-port RAM
control processor on the Unidrive 6 or Commander SK.
Tasks Initial, RealTime and Background
4 kbytes executable program capacity (including source 10 kbytes executable program capacity up to 150 ladder
code) up to 50 ladder logic rungs maximum (7 function logic rungs maximum (almost unlimited function blocks and
blocks and 10 contacts per rung) depending on function contacts per rung). (more than 500 instructions)
blocks used. (more than 150 instructions)
Applications
Applications
Replaces relay logic components, PID modules, thresholds
Replaces relay logic components, thresholds logic, logic, comparators of analogue values
comparators of analogue values
Typical applications include:Time critical sequencing, Cam
Typical applications include: Ancillary pumps, fans and switches, Hoist and crane control, Conveyor positioning
control valves, interlocking logic, sequencing routines
Hardware & Software Hardware & Software

Lite Lite
IEC61131-3 Software free with registration via IEC61131-3 Software free with registration
SyPTLite.com or www.controltechniques.com via www.controltechniques.com or SyPTLite.com
SM-ApplicationsLite
Option Module
Option Module
SCREEN
DUMP
+
Levels of PLC Functionality
Unidrive 6 Unidrive 6

PLC LEVEL 3 PLC LEVEL 4

Functionality Functionality
Create your own PLC Create your own PLC Ladder logic, Function block or
Ladder logic, Function DPL (Drive Programming Logic) programs on the
block or DPL (Drive SM-Applications option module
Programming Logic)
programs on the
Extensive PLC Functions library
SM-ApplicationsLite
Tasks - Initial, Real time, Background and Interrupt
Real time tasks synchronised to Drive control loops
option module
Comprehensive library of PLC function blocks. Create variables 32 bit integer, single and double precision
floating point
Tasks Initial, Real time, Background and Interrupt Real time PLC to Drive communication via internal
Real time tasks synchronised to Drive control loops
dual-port-RAM
Create variables 32 bit integer, single and double precision
Using drive-to-drive communications, users can
floating point. PLC program manipulates drive parameters
share information to optimise the application
and PLC variables
Real time PLC to drive communication via internal 384 kbytes executable program capacity, 80 kbytes RAM
(more than 20,000 instructions)
dual-port RAM
100 kbytes executable program capacity, 20 kbytes RAM range of extended I/O gives almost limitless
additional I/O via the connection on the
(more than 5,000 instructions)
SM-Applications option module
software available (preconfigured function blocks)
software available (preconfigured function blocks)
for easier set up of Winders, Flying Shears and Fan & Pump
Applications
Duty Assist applications
Applications Replaces small, medium and large PLCs with single or
multiple SM-Applications option modules (adds no extra
Replaces micro-PLCs and small PLCs and saves space space). Multiple SM-Applications option modules can be
For example, applications include: Centre Winder, linked together to achieve decentralised automation
Cam (multiple interpolation), Gearing/digital lock using architecture and can be synchronised together using the
the SM-Encoder Plus (2nd encoder input) option, standard on-board and bus connections
speed functionality
Applications include: Paper Machines, Rolling Mills,
Gearing/digital lock using the protocol
Hardware & Software Distributing data such as speed or torque references for web
control applications (e.g. tension control, cascade control etc)
on a multi drive network is achieved using
IEC61131-3 Software with user licence register
via www.controltechniques.com or SyPTPro.com also synchronises all the Unidrive 6 control and
SM-Applications processor clocks within the automation system
SM-Applications Lite Hardware & Software Levels of PLC Functionality
Option Module IEC61131-3 Software with user licence register
via www.controltechniques.com or SyPTPro.com
licence register at SyPTPro.com
SM-Applications SM-Applications
Option Module Option Module
+ + + ++>>
........
Unidrive Unidrive
To multiple
Unidrive 6 Unidrive
units

Set Up & Configuration Software

CTSoft, UNISoft, MentorSoft, SESoft & SXSoft
Set Up &
Configuration Software
CTSoft, MentorSoft, SESoft, MAxSoft
and SXSoft
CTSoft, MentorSoft, SESoft, MAxSoft and SXSoft are
complimentary Windows based drive configuration tools
designed to simplify the process of drive system design, set up,
and diagnostics.The software enables the complete control
and display of all parameters within a drive.The Softs provide
valuable drive data storage, retrieval and programming
functions.These Softs can be used off-line in the office or on-
line on the plant floor.
Parameter programming and monitoring may be done using the
menu list screens or dynamic graphical flow diagrams. Like the
drives, parameters are grouped into logical menus of related Some of its many features include:
parameters. Help menus and parameter descriptions are
accessible by simply double clicking on the parameter of interest.
Built-in reference manuals and search functions that provide
extensive Help files for both the drive and the Soft
CTSoft, the newest member of the Softs family, has a Drive
Set-up Wizard that walks you through the basic set-up of a
Graphical and dynamic illustrations of analog and digital
I/O and internal signal flow
Commander SK and a Unidrive 6, and includes a Motor
Database that may be modified to include the customers Drive can be reset, set back to factory defaults and
configurations stored via the Soft
motors. CTSoft conveniently provides a method to save
multiple drive setups in one project group. Its multiple window PC Specifications:
viewing capability makes CTSoft the ideal commissioning tool. Microsoft Windows 3.1X, Windows 95 / 98 / 2000 /
Windows NT 4.0 / XP; CTSoft requires Windows 98
or higher
ALL Softs ARE PROVIDED FREE
WITH THE DRIVE OR VISIT
486 processor (minimum); Pentium processor or
www.controltechniques.com/download.htm higher recommended
8MB RAM, 4MB free hard disk space, RS232 port
PC / Drive Communication
Drive Soft Drive / Cable Serial Cable
Order Code Connection Communication*
Unidrive 6 CTSoft Direct to drive 2-wire RS485 CT Comms Cable
Mentor II MentorSoft Direct to drive or MD29 / AN RS485 CTD-PC-485
Commander SE SESoft Direct to drive (RJ45 port) 2-wire RS485 CT Comms Cable
Commander SK CTSoft Direct to drive 2-wire RS485 CT Comms Cable
Commander SX SXSoft Direct to drive 2-wire RS485 CT Comms Cable
MAx MAxSoft Direct to drive RS232 Consult Drive Centre
* For operational distances beyond 3 metres, when establishing a permanent serial connection, or when communicating with
multiple drives, RS485 communication is required.


CTSoft Set Up Screens
Sample Screen Views

Welcome Motor map Speed Input
Terminal Set Up Drive Profile Download
CTSoft Selected User Screens
Basic Set Up Offline Monitoring Key Parameters
Logic Diagram Drive Status Monitoring

CTSize 4. For speed reduction select from Belt/Pulley, Gear/Gear,

Chain/Sprocket, or Gearbox for up to three separate stages of
Drive Sizing Software for Servos
reduction.
1. Sizing your application is made easy with CTSize. Selecting the
optimum system is simply done by going through the five tabs:
CTSize
Load, Motion, Reduction, Selection and Results.
5. Use the selection tab to select from All products or narrow

your search to a specific drive and/or motor.
2. Start by selecting on of the six pre-configured load types:

Leadscrew, Rack and Pinion, Conveyor, Cylinder, Feedroll and
User Defined and the fill in the load details on the load tab.
6. The results tab will display the optimum motor/drive

combination for your application.
3. Next, enter the loads motion profile, making use of profile

type shortcuts or creating multi-segment profiles.
VISIT


Energy Saving Tool (CTSave)
CTSave is a complimentary Windows based software
designed to display the energy and money saved by users who
Energy Saving Tool

utilize CT drives instead of conventional products. Information
collected by the program includes the cost/kW-hour, maximum
power in kW or hp, annual consumption rate, and type of
application (disc throttle, inlet guide vanes, dampers with
forward or backward curve centrifugal fan). As the user enters
or modifies the data, the savings at various flow rates are
displayed graphically alongside the financial detail of savings,
including the payback period. Both the data used in
calculations and the results may be saved, recalled, edited and
printed as required.
VISIT

Application Programming
Software
OVERVIEW
Control Techniques drives help you to maximise your
productivity and profitability by offering performance and
features that can make your machine run faster and under
tighter control. SyPTLiteand
Lite are Control Techniques
PLC and motion configuration software products that facilitate
these improvements by allowing you access to real-time
Overview, Applications Co-processor Modules
processing and diagnostics.

APPLICATIONS CO-PROCESSOR
Free Software MODULES
SyPTLiteis
Lite a free of charge software package that offers you
Commander SK Unidrive 6 Mentor Unidrive 6
simplicity and ease to use with performance suitable for the
majority of simple applications. LogicStick SM-Applications Lite MD-29 SM-Applications
Professional Software
is the professional programming tool that extends the
functionality of SyPTLitewith
Lite network configuration/ Lite
management, multi-tasking and multi-language programming
allowing you to fully exploit the drives hardware and
System Design / System Diagnostic
applications option modules. Programming Configuration Tools
A Range of intelligent Drives Limited FUNCTIONALTY FULL
Control Techniques PLC and motion programming software is

designed for use with our full range of AC and DC drives.
Commander SK, Unidrive 6 and Mentor II. Control Techniques are market leaders in intelligent drives,
with an established heritage and reputation in providing the
best drive performance and automation control from within
the drives own footprint.The flagship product Unidrive 6
allows up to three drive-option modules to be simply clicked
into place offering you significant advantages:
Option Modules add only the functionality required for
your application a perfect match
Simplify the basic product
Commander SK Unidrive 6
Offer value as you only pay for functionality that you require
Allow thousands of combinations of intelligence, fieldbus
and I/O to be used
By using the SM-Applications range of option module you can
extend Unidrive 6 into a high-performance automation
controller, removing the requirement for expensive PLC
hardware and giving you the power and performance to
enhance the productivity of your machine and factory. Up to
three SM-Applications modules may be fitted in each drive,
giving you access to the ultimate performance and true
Mentor II multi-processing.

Lite
SyPTLite Lite with Commander SK Logic Stick.
SyPTLite
SyPTLiteis
Lite a ladder diagram editor that allows you to develop Commander SK is Control Techniques simple and easy-to-use
programs that can be executed onboard Commander SK with general-purpose drive. However, SK contains features and
LogicStick, onboard the Unidrive 6 built-in PLC or on functions that you may not expect to find on a low-cost drive,
SM-Applications Lite option modules. such as the flexibility to program PLC applications onboard
the drive. By inserting a logic stick into the facia of the drive,
you quickly add memory for program storage that allows you
to write a PLC program using SyPTLit.The
Lite drive is prioritised
to execute all motor control related functions first and will use
any remaining processing time to execute theSyPTLiteladder
Lite
diagram as a background activity.
Commander SK may be fitted with an I/O option that

incorporates a real-time clock, allowing the drive to be used as
a low-cost standalone solution in a wide range of applications
such as dosing, lubricating, heating and ventilation.
Lite
SyPTLit
Lite is designed to meet the needs of the majority of

drive to add simple PLC functionality such as drive control and
sequencing.The software has been developed with a focus on
intuitive ease of use allowing you to access all of the drives
parameters and to monitor and debug your program on line.
SyPTLit
Lite contains a comprehensive library of functions
that is based on a subset of those available in the full

Arithmetic Blocks Comparison Blocks VISIT
Timers Counters www.controltechniques.com/download.htm
Multiplexers Latches
Bit Manipulation Ladder
Text
Function Block
Level 4
FUNCTIONALITY
Ladder
Text option module with
flexible software
Function Block
allows networking of
Ladder multiple drives
Level 3
SM-Applications Lite option with
flexible software
Ladder
Level 2
SM-Applications Lite option with standard ladder Lite software
Level 1
Standard Unidrive on-board PLC with standard ladder Lite software
CAPABILITY

Lite with Unidrive 6s onboard PLC

SyPTLite may be used to program Unidrive 6 with
Unidrive 6 supports ladder-programming capability, i.e. the SM-Applications and SM-Application Lite option modules,
drive itself is capable of storing and executing a and Mentor II DC Drive with MD29 option modules.
SyPTLit
Lite program without the requirement for
additional option modules.The drive is prioritised to
execute all motor control related functions first and
will use any remaining processing time to execute
theSyPTLiteladder
Lite diagram as a background activity.
The SyPTLitprogram
Lite may be copied to or from
the Smartcard on the drive, allowing the data to
be safely stored or retrieved for serial machine
manufacture and maintenance purposes.
SyPTLitewith
Lite SM-ApplicationsLite
and Unidrive 6
MD-29
Lite

,

option module gives you the flexibility to decide how your
program task will run, either background or cyclic.The cyclic
task means that the program will start on a fixed time-base
that is synchronised with the drives own internal control loops.
The time-base is selectable between 1 200ms.
SM-Applications Lite andSyPTLiteoffer
Lite a compelling
alternative to traditional mini-PLC
systems, in application where cost, foot
print size or performance is important.
Note: SM-Applications and
SM-Applications Lite can only be
used with Unidrive 6. Industrial Network
Note: Full SM-Applications does not supportSyPTLiteprograms.
Lite
SYSTEM PROGRAMMING TOOLKIT network designed to be deterministic, robust and tolerant
Overview to noise and interference. An OPC server is available free
of charge from your local Control Techniques Drive Centre
is the professional drive programming toolkit for OEMs or Distributor.
and End Users who wish to maximise the performance of their
Programming
machines and factory.This IEC61131-3 programming software
offers greatly enhanced functionality allowing you to connect allows you to program in your choice of three
drives, Operator Interfaces and I/O to a network and configure programming languages; these are Function block diagram,
how they exchange data. allow you to program in your Ladder diagram and DPL (Drive Programming Language). And
choice of three different languages, with a real-time multi- offer a multi-tasking environment where the tasks are
tasking environment. It contains a suite of monitoring and scheduled according to the required speed of execution or
diagnostics features that help you to reduce the time it takes to triggered by events.
develop your programmes and allows you to get your machine
into service faster.

Function Block DPL

incorporates an IEC61131-3 function block diagram Drive Programming Language is a structured text language, as
editor, and comes with a library of more than 250 function easy to use as BASIC, incorporating many standard constructs,
blocks for both simple and complex functions.These embed such as IF,THEN, ELSE, and FOR, NEXT loops. DPL is ideal for
years of application experience to make your software easier initialising, configuration and general programming.
to write and easy to re-use. Additionally you can create a Diagnostics and Debugging
Good diagnostics are essential and ensure:
may be used in any of the three languages. Software development time is minimised
Commissioning time is reduced
Downtime is cut dramatically

System Watch Window
Ladder
incorporates an IEC 61131-3 Ladder language
editor.This form of programming will be familiar to all PLC
programmers and is the ideal format for sequencing
and I/O control.

Standard Features
Torque Control Mode, including
Constant Tension Centre Wind
Speed Control Mode
DUAL MODE WINDER Dancer Feedback
The Dual Mode Winder Application Software is the result of Load Cell Feedback
over 30 years of programming successful winder applications
Dancer Air Loading Output
Line Speed Input
Diameter Calculator
critical requirement in demanding applications such as high Inertia Compensation
Taper Tension - linear or hyperbolic
speed dual-turret, flying splice machines.The Dual Mode

Winder Application Software supports over 95% of industrial Unwind/Rewind Selection
winding applications. Web Break detection
Dual Mode Winder
The addition of a co-processor option module loaded with

the Dual Mode Winder software provides a low cost flexible
Stall Tension adjustment
solution for a wide variety of winding applications.
Multiple Preset Diameters
Paper and Film Unwind and Rewinders
Jog
Single or multi spindle Torque Memory
Low tension high speed unwinds All data entry done using Engineering Units
Metal Coilers and Uncoilers
Accessories
Speed based control for thin strip with precise Fieldbus communication options:
tension control
Modbus, DeviceNet, PROFIBUS DP, INTERBUS,
Torque based control for heavy strip without CANopen, Ethernet and CTNet
tension feedback
Speed/Torque control switching on the fly Expanded I/O option
Wire, Cable and Textile Spoolers
CTNet Modular I/O
Torque or speed controlled spoolers Range of HMIs
Dynamic Braking
DualMode Winder SSP-4000-0010
Tension Tension
Sensor Sensor
CTNet

Flying Shear Inline
1OZ 2ABC 3DEF
F1 F2 F3
Operator
Unidrive 6
4GHI 5JKL 6MNO
F4 F5 F6
Interface 7PRS
F7
8TUV
F8
9WXY
F9
0 Space
Unimotor
Del F10 +/-
CTIU

NOITUAC
GNITFIL ROF REVOC
ESU TON OD
egatloV hgiH
REGNAD
MU ROTOMINU
Master
The Flying Shear is a common industrial application for cutting Encoder Motion
g
Ba
r
tin
ut
a continuous product to a set length while at line speed.This C

machines, depositors, punches, product inspection, or any other Flying Shear Angled

Standard Features
Easy configuration
Flying Shear Control

Unidrive 6
Hardware and software limits


NOITUAC
GNITFIL ROF REVOC
ESU TON OD
REGNAD
egatloV hgiH
High speed output is used to initiate the cut Master
Encoder
Registration capture
MU ROTOMINU
Unimotor

Dynamic motion profile changes on the fly Adjustable Angle
Engineering units are used for programming

numerator and denominator to allow fractional values
Resolution of the cut-length may be entered to Solutions Software Order Code
within 0.001 units Flying Shear Control SSP-4000-0020
Profile optimization reduces the machines mechanical stress:
The return profile is calculated to operate at the slowest Accessories
speed and acceleration rate, and yet with sufficient time to
achieve the next cut, either triangular or trapezoidal profiles
Modbus, DeviceNet, CANopen PROFIBUS DP,
are used
INTERBUS, Ethernet and CTNet.
Parallel and angled carriage applications are handled Expanded I/O option
CTNet Modular I/O
Range of HMIs
Dynamic Braking

2 selectable process set points for use with

day/night function
Process High and Low trip thresholds (selectable)
Inverse Speed characteristic (selectable)
FAN & PUMP DUTY ASSIST No Flow Protection (selectable)
The Duty-Assist control is an effective method of controlling Wake/Sleep, Energy save function (selectable)
multiple pumps or fans in parallel to maintain the required
process demand. Pumps and fans are often used in parallel
Dynamic V/F, Energy save function (selectable)
banks to avoid motor overload, guarantee security of supply
Cascade System Stop (selectable)
through system redundancy, reduce running costs due to
system load cycles, and provide a wide range of control
and flexibility.
The system consists of a Duty Drive and assist starters.The
Fan & Pump Duty Assist
Operators Interface
3 PHASE SUPPLY
assist starters can be of any type, (e.g, Contactor, StarDelta, CONTROL
1OZ
F1
4GHI
F4
7PRS
F7
Del
2ABC
F2
5JKL
F5
8TUV
F8
0
F10
3DEF
F3
6MNO
F6
9WXY
F9
Space
+/-
Assist 5 Assist 4 Assist 3 Assist 2 1

Auto-Transformer, Soft Starter or Inverter); the choice is Duty
dependent on the system limits.The Duty drive can control

Steam/
one dedicated motor (Fixed Duty), or with additional external Hot Air
switchgear could be selected to control other motors within Hot

COOLING TOWER 5 COOLING TOWER 4 COOLING TOWER 3 COOLING TOWER 2 COOLING TOWER 1
Water
the parallel configuration (Flexible Duty).

Standard Features Temperature
Transducer
Cool Water
Fixed Duty Motor up to 4 Assist starters can

be controlled
Flexible Duty Selection up to 3 Assist starters can be
controlled
Assist or Duty selection by Runtime (to ensure
each pump/fan is equal used) or a set sequence
More Features
Automatic reselection requested assist fails to start
Local/Remote: Digital control from Unidrive terminal I/O or Auto-changeover to ensure starters are not continually
running for long periods of time
via fieldbus
Standalone or system configurable Assists number of starts per hour protection (selectable)
Set-points and feedback can be derived as direct analog Assist Override delay to react to peak demands (selectable)
signals or by fieldbus All data entry for set-up in engineering units
Accessories
Modbus, DeviceNet, PROFIBUS DP, INTERBUS,
CANopen, Ethernet and CTNet
Expanded I/O option
CTNet Modular I/O
Range of HMIs
Dynamic Braking


Fan & Pump Duty Assist

POWERTOOLS PRO FOR UNIDRIVE 6

AND SM-EZMOTION MODULES
The PowerTools Pro software in combination with the
SM-EZMotion module enables you to fully realize the motion
control power of the Unidrive 6. A familiar Microsoft
Windows interface provides operators and machine builders
with the tools needed to access everything required for
complete servo control PLS, Queueing, Analog-In, User
Variables, High-Speed Capture, Electronic Gearing, Multiple
Profile Summation, S-Curve Accel and Decel, Program
multitasking, Synchronized motion, and more. An unexpanded Hierarchy View is shown on the left-hand side
PowerTools Pro for Unidrive 6 & EZMotion
Developing applications with PowerTools

Pro is an easy five-step, top-down
process that quickly gets your applications User Units
running.The five task areas that need to be User Units are the first item under Setup on the PowerTools
completed in order are found in the hierarchy. User units deliver high resolution performance and
Windows Hierarchy View Hardware, Setup, ease of use. Motion can be programmed in any units that the
I/O Setup, Motion, Programs and Network. Some areas may user desires. Setup the 32-bit data resolution for position,
not need completing, as some applications, such as a flying velocity, and acceleration data one time and the rest is done
cutoff may not require programming nor network for you. Select from optional time scales for Velocity and
parameters to operate. Acceleration units.
Programs
Programming software for the SM-EZMotion module Combine program flow and motion instructions to create fully
that gets applications up and running quickly, from customised user programs up to 1,000 lines of code. Use
the simple to the complex conditional branching, wait for, program calls, formulas, user
Hierarchy View provides for an easy, flexible, and variables, and numerous motion instructions to solve your
complex applications. Easily create programs, such as the drill
powerful programming environment
head positioning program below, by dragging and dropping,
Familiar WindowsTM-based processes simplify or typing program instructions, variables, I/O, and formula
entering data
operands into your program screen. Use the SM-EZMotion
Fill-in-the-BlankValues module to run one program at a time, or up to four
Point and Click Radio Buttons programs simultaneously!

parameter updates.
OR VISIT

Assignments
PowerTools Pro for Unidrive 6 & EZMotion

Indexes
either realtime or synchronized
to a master.
Profiles
Multiple Profiling

Automation Hierarchy CENTRALISED CONTROL SYSTEMS

Centralised control requires a powerful Machine Controller,
Selection (usually a PLC or PC) with centralised programming and
configuring software tools to provide:
Drive Integration Products Gateway to the process layer
OVERVIEW Machine co-ordination and sequencing
It is rare that an industrial drive stands alone in an application.
Machine real-time control algorithms for one or a number
of devices (including drives)
In the majority of cases, drives are part of a system. As such it
is necessary for the parts of the system to communicate with
A high speed and medium bandwidth communication
system and/or support a lot of inputs and outputs for
one another, transmitting commands and/or data.This plant based devices
communication can be in many forms from traditional
analogue signals through to wireless communication systems.
Service data to and from devices
The communication throughout the system is via the machine
Control Techniques produced lower cost, higher performance
fieldbus Local Area Network (LAN).The dynamic speed of such
drives, with good flexible and dynamic interfaces to other
a network depends not only on the choice of fieldbus, but also
industrial products such as PLCs, HMIs etc. on the number of nodes connected. Great care is needed in
specifying such a system if the system requirements are not to
The Automation Level in a Typical Factory be compromised.The specification of such a network is the
most common problem during system commissioning, and can
be responsible for some serious project delays.
A typical configuration for a centralised control system is
shown below.
Typical Centralised Control System

Machine
Overview; Centralised Control Systems
Remote Monitoring
Automation Hierarchy Selection
Controller
Machine Fieldbus LAN
Section Section
Controller Controller
HMI HMI
The figure above shows a typical factory IT/control hierarchy from HMI
a process control level down to sections of a machine. Drives are

a part of the electrical system within a typical machine, yet the
way machines have been controlled has been heavily influenced in Machine
Section #3
Machine Section #1 Machine Section #2
recent years by the growing capabilities of drives.
Advantages:
Traditionally systems have been controlled by powerful
Centralised Controllers at the Process Level. As the cost of
Simple architecture
PLCs reduced, control was distributed to the Machine level. One learning curve for programming and configuration tools
AS PLCs continue to fall in price, further distribution of Efficient, one point bridge to process layer
control is happening. However the threat to PLCs in this role Usually a lot of applications support available from
comes from drives which have considerable processing power, controller suppliers and integrators
and direct contact with much of the critical variables of the Disadvantages:
system thereby offering new opportunities in terms of Expensive hardware and software (Machine Controllers are
optimised system control. expensive on large systems and software tools)
In all applications it is worth considering the relative benefits of The central controller is a commissioning bottleneck
Centralised and Decentralised Control.This assessment needs Redundancy is very expensive to build in
to be done prior to deciding on the most appropriate fieldbus A broad family of controllers needed for cost effective
for the application. adoption across a factory

DECENTRALISED CONTROL SYSTEMS HYBRID CONTROL SOLUTION

This alternative approach is also referred to as a Distributed A Hybrid solution, sometimes known as Distributed Sectional
Control System.This requires: or Cluster Control, is now receiving significant attention.
This requires:
Peer to peer communications (devices to talk with
one another) A medium processing power Machine Controller to provide:
Gateway to the Process layer
Intelligence in some devices Machine co-ordination and sequencing
A gateway to support the Process layer interfaces Support a lot of system inputs and outputs (digital and
A common and flexible programming, configuration, analogue) High Speed and medium bandwidth to and
commissioning and visualisation software tool
from each section
Advantages:
A medium processing power Sectional Controller to provide:
Low cost Gateway to the Machine controller
Small control panel size Section co-ordination, sequencing and if necessary
Easier design and maintenance Modular software synchronisation
Support a lot of system inputs and outputs (digital and
Opportunity for faster response times than with analogue) High Speed and medium bandwidth to and
centralised control (Better Performance)
from each section. Service data to and from each device
Inherent system redundancy possible Master-Slave or Peer-Peer architectures can be adopted
Multi-commissioning access reduces set-up time Common programming, configuration and commissioning
No machine controller software tools
Modular software readily facilitates re-use Hybrid Control (Distributed Sectional Control)
System is scalable Central Network
Programming &
Parameter Port
Remote
Monitoring
SCADA
Commissioning Tool
Programming Tool
Disadvantages: Modbus-RTU
Decentralised Control Systems; Hybrid Control Solution

(RS485)
Machine Fieldbus LAN

Needs high level commissioning and programming tools Section
Master
HMI Section
Master
HMI
(Need to realise sections and device functions) I/O CTNet LAN
Gateway to Process layer required
Sectional CTNet LAN

Sectional
Drives & I/O
Process layer can access all machine devices (no filtering) Sectional Drives CTNet LAN CTNet LAN
HMI
High degree of system determinism may be required RS485
High system communication bandwidth may be required Machine Section #1 Machine Section #2
Machine
Section #3
Advantages:
Fully Decentralised Control
Very cost effective solution for medium/large systems
Machine LAN (eg CTNet)
Simple architecture each section controller is
Section HMI Section HMI responsible for its own sectional devices
Master Master
I/O CTNet LAN Efficient, one point bridge to the Process layer
Sectional CTNet LAN
Modular software Easier development, maintenance

Sectional
Drives & I/O and re-use
Sectional Drives CTNet LAN CTNet LAN
HMI Common server and marshalling
RS485
Inherent sectional redundancy
Multi-commissioning access
Machine Section #1 Machine Section #2
Machine
Section #3 Tight control with fast updates for Sectional control
Common programming and commissioning software
Disadvantages:
Potentially higher cost for small systems
Without common software tools, (Machine and Sectional)
system visibility is restricted solved with

Having looked at these system implementations the In all solutions, the need for the Unidrive 6 to support
opportunities for solutions platform modern high speed fieldbus communications is implicit.
drives emerges. No single control In the hybrid solution, the drive acts as both a
configuration can be considered the communications bridge (linking the Machine fieldbus LAN to
best for all occasions the driving the Sectional LAN) and as the Sectional controller. It also
factor is the application itself. In the provides a further LAN to interface with the Sectional I/O.
illustrations, there is not a wide Further sub-LANs are also illustrated.This layering of LANs
proliferation of PLCs, indeed their greatly simplifies the communications network and leads to
absence is striking. In the great benefits in terms of system performance and visibility.
decentralised and hybrid solutions The design is simplified by breaking the tasks into modules.
however, there is a considerable This modular design lends itself to the important practice of
requirement for decentralised re-use both of software but also hardware.
intelligence, and this is contained System performance is enhanced by tight synchronisation
within Unidrive 6.The capability of of control loops and between the Unidrive 6 and its
the Unidrive 6 to undertake real- option modules.
time control functions is critical. For
example a winder-unwind controller
may need to be embedded or a
complete elevator control including
call handling, speed / acceleration
ramps, positioning etc. Windows
based software tools (based on
IEC61131-3) makes programming,
commissioning and maintenance a
straight forward task for operators
familiar with PLC programming.

Hybrid Control Solution
The flexibility of the Unidrive 6
Example of Decentralised control SM-PROFIBUS-DP together with the option module
To existing
remote PLC SCADA SM-I/O Plus perfect Solutions Platform for any
automation system.
Remote I/O
can be used in almost unlimited
options in order to neatly dovetail
+ + + into existing automation systems.
Alternatively, when starting out with
a clean sheet of paper, the Unidrive
6 can achieve the necessary cost
and space savings by allowing the
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ESU TON OD ESU TON OD ESU TON OD
Project Engineer to accurately match

GNITFIL ROF REVOC GNITFIL ROF REVOC GNITFIL ROF REVOC
the PLC and I/O requirements.

VISIBILITY FROM THE BOARDROOM

Management
TO THE FACTORY FLOOR Level
Computer
OPC can be compared to your printer drivers in Workstation Computer
Computer
Windows.The printer drivers allow the windows software

to use any type of printer made by any manufacturer provided
a valid driver is supplied with the product. Similarly OPC Programming Scada
allows your industrial software that supports OPC to Scada
communicate with any industrial equipment provided the Factory Level

manufacturer can supply you with valid OPC Server software. Automation Drive System
In addition multiple OPC servers may be installed in your

system allowing your software to communicate with different
devices from different manufacturers. OPC was developed in
conjunction with Microsoft and as a result software tools such
as Excel,Visual Basic,Visual C++ etc can make use of OPC,
however, because of the obvious advantages of OPC, its major
success has been within SCADA systems and now all major
suppliers of industrial SCADA Software supports OPC
as standard.
Control Techniques are long standing members of the
OPC foundation, our OPC server is available free of
charge and supports communication with a single drive or a
network of drives using either CTNet, Ethernet or the

standard RS485 communications available on the drive.
This diagram shows how OPC can provide visibility
of the drive system from the board room to the
factory floor.
OPC Server
OPCserver SOFTWARE IS PROVIDED
FREE, DOWNLOAD FROM

NETWORKING COMMUNICATIONS
Drive Integration Products
DECENTRALISED CONTROL SOLUTION
CTNet is a comprehensive line of equipment enabling the
design engineer to create high performance and cost
effective decentralised control solutions.The CTNet product
range supports intelligent co-processors installed in Control
Techniques AC and DC drives with a high-speed peer-to-peer
fieldbus that enables the control set up required by an
application distributed.
At-A-Glance
Function Description Order Code
Application Includes CTNet fieldbus SM-Applications
Co-processor connections and (Unidrive 6),
Modules Co-processor MD29AN RevD *
(Mentor)
OVERVIEW
Network 3 port Hub, provides CTNet-Hub-RevD* The CTNet fieldbus is a 5 Mbit token ring network that
Accessories connectivity to 3 CTNet supports peer-to-peer communications. Utilising the
segments
field-proven ANSI/ATA 878.1 ARCNET standard as a
Fibre Optic Repeater CTNet-FIB-RevD* foundation, CTNet includes a custom protocol stack that
3 port Hybrid Hub, for supports cyclic data and non-cyclic one shot transactions.
connectivity between current CTNet-Hybrid
The CTNet fieldbus employs an RS485 transformer-isolated
and previous CTNet versions Hub
physical layer to allow usage of a convenient and inexpensive
CTNet bulk cable CTNet-xxx
two-wire shielded, non-phasic cable.
PC Network For use with CTNet-PCMCIA-
Cards Laptop Computer RevD Two methods of data exchange are supported: cyclic data and
Desktop Computer (w/PCI bus) CTNet-PCI-RevD* non-cyclic data. Cyclic data exchanges are pre-programmed
Desktop Computer (w/ISA bus) CTNet-ISA-RevD* block transfers (20 registers max.) between co-processors at
either a fast or slow rate. Non-cyclic exchanges are
Remote I/O Beckhoff bus coupler SSP7200-RevD
asynchronous transfers initiated by application programs or
HMI Display Operator Interface Unit CTIU200
SCADA / HMI devices.
Operator CTIU200-
CTNet comms card
Interface CTNet-RevC
APPLICATION CO-PROCESSOR
Application
MODULES
Programming Systems Programming Toolkit
Software SM-Applications / MD29 / MD29AN
Power Supply 24VDC Power Supply Consult Drive Control Techniques Unidrive 6 AC drives / Mentor DC
Network Communications
Centre drives accept plug-in co-processors modules as a standard

Network Bridge between CTNet and Unidrive 6 accessory. SM-Applications (Unidrive 6) and MD29AN
Bridges DeviceNet, PROFIBUS DP, (Gateway Feature)
and MD29 (Mentor) plug-in co-processors include the CTNet
INTERBUS, Modbus, Sercos,
CTNet
Ethernet and CANopen high-speed peer-to-peer fieldbus to allow the modules to

communicate with one another.
*CTNet components sold prior to January 2003 utilise a different product revision than
The CTNet-equipped co-processors are based on a high
shown above, Rev D. Please contact Control Techniques when purchasing components
for older installations. performance microprocessor with up to 384 Kbytes of program
storage and 80 Kbytes of variable storage for user applications.
In addition to the CTNet fieldbus, serial ports are available for
RS485 communications.The co-processors also include a built-in
counter-timer unit and a position controller capability.

PC NETWORK INTERFACE CARDS

For desktop and laptop computers, there are three types of
Mentor II CTNet network cards. All cards permit user specification of
MD29AN the node address, baud rate and IRQ (where applicable).
Unidrive 6
SM-Applications
Network Application Card Order Code*

Laptop Computer CTNet-PCMCIA-Rev D
NETWORK ACCESSORIES Desktop Computer w/PCI bus CTNET-PCI-Rev D
Repeaters Desktop Computer CTNet-PCMCIA-Rev D
For extending CTNet cable segments and *CTNet components sold prior to January 2003 utilise a
creating star topologies, there are three different product revision than shown above, Rev D. Please
types of repeaters available: contact Control Techniques when purchasing components for
older installations.
Description Order Code REMOTE I/O
Two-output (3-port) Repeater (Hub) CTNet-Hub-Rev D
The high-quality Beckhoff I/O system
Twisted-pair to Fibre Optic Repeater CTNet FIB-Rev D
is available for CTNet systems.
Hybrid Hub for connecting
previous versions of CTNet CTNet Hybrid Hub Beckhoff systems for CTNet include a
hardware to current versions bus coupler and a large variety of
snap-on terminal blocks allowing up to 256 digital inputs or
outputs and up to 100 analog inputs and outputs per bus
CTNet Cable
coupler. Up to 64 Beckhoff I/O systems can be attached to a
Control Techniques supplies a high CTNet network. I/O points can be easily read or written.
quality shielded twisted-pair cable Contact Control Techniques for details on the wide range of
suitable for high-speed data available Beckhoff Remote I/O options.
transmission. It is available in three
standard lengths or any specified HMI OPERATOR INTERFACE
non-standard length. Control Techniques supports several HMI displays, and of these
the CTIU200 model, with the CTIU200-CTNet-Rev C option,
Cable Length Order Code
supports CTNet operations.The CTIU200 is a high-end
100 metres CTNet-100 operator interface unit
200 metres CTNet-200 featuring a 16-line,
CTNet
Non-standard (bulk in metres) CTNet-xxx* 40-character display,

37 keys, 300 pages of
* xxx= number of metres user-programmable displays,
a scripting language, graphical
charts and trends, recipe
support and user-friendly modification of parameter values. A
sophisticated Windows programming tool creates the custom
application and downloads it into the CTIU200 for operation.

SyPT SYSTEM PROGRAMMING POWER SUPPLY

TOOLKIT A 24 VDC power supply with an output rating of 600 mA is
ideally suited to provide power for various Control Techniques
Auto Detection accessories. Some of these accessories include the various
When is connected to your drive system it will:
CTIU operator interfaces, CTKP and Beckhoff I/O.
Automatically interrogate your network
Typical Specifications
Discover which components are connected
Let you upload to the PC the software from the
100 to 240 VAC 50/60 Hz input power
option modules
600 mA max. output current
IP20 rated enclosure
-10 to 60C operating temperature
Panel or Din rail mounting
UL/cUL, UL508, CE marked,TUV
NETWORK BRIDGES
The Unidrive 6 provides unrivaled fieldbus flexibility. In
Simplicity of Connection option slots.This provides the capability to control and
may be connected via a CTNet PC card direct
to the CTNet network or through the standard RJ45
programming port on the drive. In both cases you get total
visibility of the complete CTNet network for programming
networks simultaneously.
and diagnostics.
In the example shown, CTNet is used to provide real-time
Multiple - CTNet Networks co-ordination between two Unidrive 6 modules.The
For the ultimate multi-tasking and multi-processing fit multiple DeviceNet and PROFIBUS connections allow data to be
SM-Applications modules to your Unidrive 6, passed to the controllers in a machine line.
this allows you to increase the processing power where
required, and support multiple CTNet networks
in a system. Even if you do not need to now, it is reassuring
Fieldbus Gateway (3)
to know that you can expand your drive system to
incorporate any future modification.
Multi-point Programming
More than one programming station may be
resident on a CTNet network allowing work to be done on
different parts of the system simultaneously and so allowing
commissioning times to be minimised.

Further information on can be found in Fieldbus Gateway (2)
Section 10.1
CTNet

Fieldbus DEVICENET
DeviceNet is a high speed communications network protocol
OVERVIEW that uses the Controller Area Network (CAN) hardware layer
The term fieldbus is a generic one that covers all of the and signalling. DeviceNet networks require a master controller,
current communication bus systems including PROFIBUS, usually a PLC scanner or PC, with all network
INTERBUS, CANopen, DeviceNet, Ethernet, Sercos and communications controlled by the master device.
Control Techniques own CTNet system. All of these are The DeviceNet Interface complies fully with the DeviceNet
digital communication systems that allow a control system to architecture, performing as a slave node only. It does not
exchange data with remote sensors, actuators and drives support peer-to-peer communications. Data rates from 125
using a single communications link. Kbits/sec up to 500 Kbits/sec are supported.
The major benefits are reduced installation, cabling and
Terminal Information for Unidrive 6
maintenance costs with more reliable and flexible operation.
Cable screen (braided shield)
Selecting the right fieldbus? CAN-L negative data line +24V external power supply (red)
Shell CAN-H positive data line (white)
If you take away the purely political dimension of what bus Cable screen (braided shield)
1 2 3 4 5
system appears to be in favour or in the ascendancy at any
6 7 8 9 1 2 3 4 5
one time, then the major determining factor is whether the
system would benefit from a centralised or decentralised 0V external power supply
CAN-L negative data line (blue)
CAN-H positive data line
control strategy. Having selected the choice of machine control +24V external power supply
0V external power supply (black)
there still remains a multitude of bus systems to chose from.

5-Way D-Type Function Description
Many factors continue to influence such as network topology, Terminal Terminal
data rates and range of supported devices.
1 6 0V 0V external supply
This demonstrates Control Techniques open approach to all 2 2 CAN-L Negative data line
the leading fieldbuses and its flexibility in terms of customers
3 3,5 shell Screen Cable braided
choice of control strategy.The balance of this chapter is
screen connection
devoted to giving users a balanced overview of the benefits
and appropriateness of the leading fieldbuses. It is based 4 7 CAN-H Positive data line
around the fieldbus options for Unidrive 6. 5 9 + 24V + 24V external supply
PROFIBUS-DP INTERBUS
PROFIBUS-DP is a high speed communications network and INTERBUS networks are centralised systems, requiring a
protocol, that allows large amounts of data (up to 12MB/s) to master controller (usually a PLC) which controls all
be transferred quickly to and from network nodes.The communications with slave nodes on the network.The
PROFIBUS-DP interface detects the network data rate, and INTERBUS interface enables the drive to function as these
automatically synchronises to it. PROFIBUS-DP systems are network nodes, with the advantage for users that it does not
centralised with a master controller controlling all require any change to its default setting to operate on a
communications with slave nodes on the network. configured network.The master controller scans the network
during network initialisation, and assigns addresses to each Network Communications
Terminal Information for Unidrive 6 node depending on their physical location on the network.
RxD/TxD-P (Green) Cable screen (braided shield) The data rate for INTERBUS is fixed at 500 Kbits/sec.
CNTR-P
OV ISO (for termination only) Terminal Information for Unidrive 6
Shell Cable screen (braided shield)
Fieldbus
5 4 3 2 1 Cable screen (braided shield) DO2

0V_IN DI2
9 8 7 6
DI1 0V_OUT
RxD/TxD-N (Red) DO1 +5V_OUT
+5V ISO (for termination only) Shell Shell
1 2 3 4 5 5 4 3 2 1
Cable Function Function Description 6 7 8 9 9 6 7 6
Red RxD/TxD-N 3 Positive data line
/DO1 RBST
Green RxD/TxD-P 8 Negative data line /DI1 /DI2
/DO2 Spade
Braided Shield Screen Shell Cable screen Connector

CANopen UNIDRIVE CTNET INTERFACE

The CANopen interface has been tested and awarded full Highly deterministic distributed control
Product Conformance Certification by CiA (CAN In
Control Techniques CTNet interface enables users to leverage
Automation), the controlling body for CANopen. Conveniently,
the facilities of the Unidrive V3, Unidrive 6 and Mentor,
the CANopen interface is configured as a slot-in card to the
Applications co-processor modules, for real time decentralised
interface module which gives the Unidrive its unrivalled
control. CTNet was developed specifically for highly dynamic
flexibility in high level control and communication systems.
applications, over trunk lengths generally exceeding 100m, using
The CANopen interface enables OEMs and users to harness
proven token ring data link technology. CTNet is a
the comprehensive facilities of CANopen for use in industrial
decentralised peer-to-peer system, requiring no master PLC
automation systems where Unidrives may be called upon to
controller, with each intelligent node taking its turn to control
network with other CANopen compliant intelligent devices
the network, and communicate directly, and in real-time, with
such as sensors and actuators. It allows process data to be
other network nodes at data transfer rate of up to 5Mbits/sec.
regularly updated in remote network nodes, and removes the
CTNet supports up to 255 nodes and provides an intelligent
need for extensive digital and analogue I/O wiring. Supported
drive-orientated approach to systems integration based on
data rates for CANopen range from 10 Kbits/sec to 1 Mbit/sec.
decentralised control, universal communications and graphical
software. Unidrive 6 enables a CTNet gateway to industrial
Terminal Information for Unidrive 6
networks such as PROFIBUS-DP, INTERBUS, DeviceNet,
Ethernet and Sercos.
CAN-L negative data line +24V external power supply (red)
Shell CAN-H positive data line (white)
1 2 3 4 5 SERCOS Interface
6 7 8 9 1 2 3 4 5
The SM-SERCOS
0V external power supply
CAN-L negative data line (blue)
module is class B
CAN-H positive data line
+24V external power supply
0V external power supply (black) compliant, supporting
the torque, velocity
and position control
modes. Also supports
CAN INTERFACE
probing cycle additional functions (Position registration) and
The Unidrive 6 SM-CAN interface allows any CAN user-defined telegrams.
protocol to be implemented for Unidrive using DPL (Drive
The SM-SERCOS module is configurable through Unidrive 6
Programming Language) code or the Function Block Editor
parameters there are no hardware configuration switches.
within (System Programming Tool). Function blocks are
available for the Workbench that provide full access The SM-SERCOS module uses the standard fibre optic
to the CAN data link layer, and allow configuration of the ring topology, using standard transmit and receive
CAN controller from the DPL program. optical connectors.
Due to the way CAN works, it is ideal for designing and
All SERCOS baud rates supported 16Mbps (Default),
implementing networks with peer-to-peer communications, 8Mbps, 4Mbps and 2Mbps.

where nodes are allowed to transmit data over the network
at data rates from 10kbits/sec to 1.0 Mbits/sec, without the Network cycle times supported: 250s, 500s and 1 to
65ms (In 1ms increments).
need for an overall master controller.
Fieldbus
The CAN controller used in the Unidrive 6 CAN module Four optical power levels are available for transmission,
has full message filtering features built in, which allows the and it is possible to disable the network repeater in the
CAN controller to filter out unwanted messages, thus module (breaking the network at that point).
reducing the loading on the CPU.
Provides two freeze inputs used for SERCOS probing
cycle functionality.

Additional Features The features supported by SM-Ethernet are:

User-defined application telegram (Type 7) is supported. Modbus TCP/IP protocol
This provides the facility to specify a list of IDNs to be Modbus TCP/IP is a standard industrial protocol that has
transmitted in the Amplifier Telegram (AT) and Master become popular for industrial Ethernet connectivity between
Data Telegram (MDT). devices such as HMIs and PLCs. Control Techniques software
Additional IDNs that allow data on the drive operating products may also use Modbus TCP/IP for connection to
status to be obtained, for example, the DC bus voltage drives allowing CTSoft, SyPTPro and our OPC server to
or the power stage temperature. connect over Ethernet. A major additional benefit is that
several Modbus TCP/IP devices may communicate with the
The Probing Cycle procedural command allowing the current same SM-Ethernet option module simultaneously.
feedback position to be latched upon the occurrence of a
configurable condition; a negative or positive edge on the HTTP Web Server
probe input.The module has two fast digital probe inputs The SM-Ethernet module contains a range of standard web
dedicated to this purpose. pages for monitoring, diagnostics and configuration, in addition,
user defined web pages may be downloaded to the drive
SM-Ethernet giving you the option to create a graphical user interface
unique to your application.
Ethernet is growing quickly as a network for industrial
automation, the SM-Ethernet module allows Control Homepage showing the general configuration and
Techniques drives to enjoy the benefits of a high-speed status of the drive
Ethernet network and global connectivity.
SM-Ethernet Connections
Terminal Information
Spade
collector Link / Actuity Module Status
8 76 54 3 21 Speed (0-100Mbs) Module Status
Noticed Transmit +
Noticed Transmit -
Receive - Receive +
Noticed Not Used
Protocol Configuration
SM-Ethernet Connection Description
The module uses a standard RJ45 connection, supporting both
unshielded and shielded connectors.There is also an additional
earthing tag for supplementary earth bonding. Network Communications
SM-Ethernet supports the following connectivity features:
10 / 100 MBits/s auto-negotiation

Fieldbus
Auto-crossover detection
Auto duplex setting

Examples of SM-Ethernet user defined web pages. Crossover patch leads are typically used for:
The controls may be re-used to create your own
unique web page for your specific application.
Switch to Switch
PC to SM-Ethernet
Remote Connectivity
Direct dial-up connection
SMTP Mail
SM-Ethernet may be configured to generate emails allowing
the drive to signal the drive status or alternatively a more
advanced function such as send an email to the engineering
department to inform that a component in a machine is due
for replacement as part of a preventative maintenance cycle.
DHCP Remote Connection via Internet

DHCP means Dynamic Host Configuration Protocol.This creating a Virtual Private Network (VPN)
protocol is used to manage the IP addresses assigned to
devices on an Ethernet network. As new devices join an
Ethernet network, a DHCP server assigns an address for that
device to use.This means that the address is dynamic, in other
words each time a device is powered up it may be assigned a
new address. SM-Ethernet optionally supports DHCP, allowing
the drive to join a network where a DHCP server is present,
however, for many industrial networks DHCP is not used as
having a fixed, Static IP address can be an advantage in locating
and managing devices.
FTP and TFTP

FTP means File Transfer Protocol and TFTP means Trivial File
System Configuration
Transfer Protocol. SM-Ethernet uses this protocol for
uploading and downloading drive parameter files, firmware Communications Interface Module System
and web pages. Protocol Order code Configuration
Auto-negotiation PROFIBUS-DP SM-PROFIBUS-DP Slave
SM-Ethernet supports 10Mbps and 100Mbps, Auto-negotiated
means that on initialisation the speed of the connection is INTERBUS SM-INTERBUS Slave
automatically negotiated/detected. CTNet SM-Applications Peer-to-Peer

Auto-crossover CANopen SM-CANopen Slave
Auto-crossover on SM-Ethernet is able to auto detect if the
Fieldbus
Tx/Rx connections are crossed over and on initialisation set CAN Interface SM-CAN Master/Slave
the module to suit the incoming connection. SERCOS SM-SERCOS Slave
ModbusTCP/IP Slave
Ethernet patch leads are available as direct 1 to 1 connections
or cross over connection. SMTP Mail SM-Ethernet Slave
FTP File transfer N/A
Direct patch leads are typically used for:
SLM SM-SLM Slave
PC to Switch/Hub * Modbus RTU is standard. An additional Modbus RTU port can be provided
SM-Ethernet to Switch/Hub with an SM-Applications module.

Operator Interface Colour-Touch TIU300 Series
OPERATOR INTERFACE OPTIONS

Control Techniques has set up a partnership with two major
operator interface manufacturers, Horner and ESA. This
partnership gives users access to the widest possible range
of units to ensure that you get right interface to suit your
needs at the right cost. Both of these companies are
technology leaders, where designing and manufacturing the
most innovative range of operator interfaces are core
competencies. Both of these companies products are
available through your local Control Techniques Drive Centre/
Application Centre or Distributor.
Horner Advanced Products Group
Horner is a global company designing and manufacturing a The TIU 300 series offers Monochrome and Colour-
wide range of text, graphical and touch-screen operator Touchscreen capability in 5.7" sizes in both STN and TFT
interfaces. These are programmed with the powerful and yet with 1/4 VGA (320 x 240 Pixel) resolution.
easy to use CBreeze software, where what you see is exactly All Units have 1 off RS232/RS422 and 2 off RS232/485 ports,
what you get. 5 Function Keys and a mini centronics port.
Horner products may be used with Commander SK, The Monochrome unit has 8 Hues and Colours Units have
Unidrive 6 and Mentor II, and support Modbus RTU, 16 Colours.
direct CTNet connectivity and CTNet Modbus function
Colour-Touch TIU500 Series
codes (See Below).
TIU's are available with 800x600
The TIU offers a wide range of communication operator Pixel resolution in 8.4", 10.4" and
interface products spanning from 2 lines text to 12.1" SVGA 12.1". All screens have over 32,000
colour touch screen. With its downloadable protocols it is able Colours and have High Brightness
to communicate with a wide range of devices ranging from and Wide Viewing Angle.
drives to PLCs via bar code readers and other serial devices.
Fieldbus options such as CTNet, Profibus DP and DeviceNet All units Include Ethernet, Compact Flash, 3 off RS232/485
are also available. Serial Ports, Function Keys and are rated IP65 from the
Front Panel.
Here are some example products from Horner:
ESA Elettronica S.p.a
The company has now grown to one of the worlds major
producers of HMIs.The VT range of operator interfaces offers
an extensive selection, from small 2 line text displays through Network Communications
to full Windows CE and Linux based terminals. Most of the
units are programmed using the VTWin software tool
Operator Interface
providing the functionality required for your application. ESA

operator interfaces offer great value and functionality.
ESA Products may be used with Commander SK and Unidrive
SP and support Modbus RTU and CTNet Modbus Function
codes (See Below). Some ESA panels also support Ethernet
CTIU 200
Modbus TCP/IP master.

VT155W How to connect an Operator Interface

Operator terminal with 4. graphic LCD display, 4 tones of to a Control Techniques Drive
gray, 16 rows by 40 characters (240 x 128),Touch-Screen,
Control Techniques drives support a wide range of fieldbus
640 KB project, clock, 16 KB recipes.
and protocols - We actively promote and support open
May be mounted either horizontal or vertical. standards for communications. Modbus RTU is commonly
chosen for operator interfaces and is supported by all of our
drives allowing most operator panels to be used, this means
that if you have already developed a solution with another
manufacturers operator panel it is extremely likely that we
can interface to it without any major problems.
We have however chosen to work with Horner and ESA
based on competence and product ranges, both also offer a
significant advantage when used with a CTNet network by
supporting CTNet Modbus function codes (See Below).
Connection to the serial Port
VT565W
The operator interface is connected directly to the serial port,
Operator terminal with 5,7. graphic LCD display, 16 rows by
RS485 is a multi-drop protocol and so may be connected to
40 characters, 1/4 VGA (320 x 240),Touch Screen, 1 MB
several drive if required.
project, clock, 128 KB recipes.
RS485
VT585CE
Operator terminal with Windows CE 3.0 operating system,
10,4. colour graphic TFT LCD display,VGA (640 x 480),
64 MB RAM memory, 32 MB flash memory, LPT Centronics,
PS2 for mouse and keyboard, RS 232, USB, 2 PCMCIA slots
(type 1), Ethernet interface, 75 operative keys.
Operator Interface
Commander SK showing connection to the serial port

Connecting via Ethernet CTNet Modbus function codes

SM-Ethernet Option module allows the operator interface to CTNet Modbus function codes allow the operator interface to
be connected to the drive using Modbus TCP/IP. access any Control Techniques drive connected to a CTNet
network via a standard RS485 serial connection.
In the example below the operator panel is connected at a
Ethernet high-baud rate to the drives serial port and can obtain drive
Modbus TCP/IP parameters from any of the drives on the three CTNet
networks.This is possible using special Modbus function
codes that pass the data through the drive to the CTNet
network.This gives significant cost reductions and allows the
operator panel to be a standard off-the-shelf model with no
additional hardware.
Connection using Fieldbus

Control Techniques drives support fieldbus communications
through the use of Option modules, many operator interfaces
also support fieldbus such as Profibus, DeviceNet etc.The
drive is usually a slave on a fieldbus network and often so is
the operator interface.This means that a master controller
must be used and so it is important to establish how the
operator interface will communicate, as it may be required to Modbus
martial the data through the master in the system. RTU
Some Horner products are able to connect directly to

Control Techniques drive-to-drive network CTNet by fitting
an optional network adapter to the operator interface. Network Communications
Operator Interface

SM-Keypad
SM-Keypad, designed for use with Unidrive 6, has two rows Parameter text may be customised using a Windows tool, for
of 7 segment LED displays.These are very easy to see at applications or further languages
distance and in poor lighting conditions.The upper display
shows the drive status or the current menu and parameter
number.The lower display shows the parameter value or the
specific trip type.
SM-Keypad Plus
SM-Keypad Plus, designed
for use with Unidrive 6
and Commander SK, has a
multi-lingual backlit LCD
display with three lines of
text. Line 1 shows drive
status or current menu
and parameter number
plus parameter value or
the specific trip. Lines 2
and 3 show the parameter
name or the help text.
There are five text databases as standard: French, Italian,
German, Spanish and English plus a custom database for
application specific text.

Help text is available at the press of a button.
Operator Interface
The parameter set that may be browsed can be filtered, to

tailor a drive to a specific application or industry.
With the standard communications cable and Windows text
string tool from Control Techniques, you can customise the
human-machine interface of SM-Keypad Plus to your own
specific application, and make it your own.

Universal Keypad DIMENSIONS (mm)
The Universal Keypad makes programming Control

Techniques most popular drives fast and simple.This remote
keypad has a 2-line, 16-character, green back-lit LCD display.
A built-in database defines all drive parameters in real units.
Start, Stop / Reset and Reverse keys make pushbutton control
quick and easy while five navigation keys provide fast browsing
and modification of parameters.
Customer-defined macro functions can be accessed through
three programmable soft keys.The two line display can be
programmed to display any drive parameter, apply a scale
factor, offset and descriptive text.The 2 or 4-wire RS485
communications provides single or multi-drop connectivity
with a combination of Control Techniques digital drives and
their option modules.
Its IP65 rating provides rugged protection whether it is
hand-held or panel mounted.To further simplify installation,
its designed to be powered from a Control Techniques
drive1 rather than require an external power source.
1 24 VDC, 200 mA when supplied from a drive. Separate power supply
requires fast-acting 24 VDC / 250 mA fuse.
Plain text parameter descriptions for

ControlTechniques digital drives
Hand-held or panel mounted

IP65 Rating
2 or 4-wire RS485 for single or multiple
drive connection
Password protection
Programmable display
Suitable for use with Commander SE,
and Mentor II
Operator Interface

Power Accessories E-Stop Duty

Dynamic Braking Resistors
Dynamic braking resistors provide a means of rapidly stopping
a rotating motor and load.The mechanical energy stored in
the spinning mass is converted into electrical energy and
quickly dissipated into the resistor.The ohmic value and power
rating of the resistor is a function of the drive type.
DC drives provide an exponential stopping profile when a
dynamic brake resistor is applied across the motors armature
circuit (when the motor acts as a DC generator).This type of
braking can occur only when the drive is configured for coast
stop and power has been removed from the motor (stop
Overload
commanded). Protection
AC drives provide a constant torque stopping profile when a
dynamic brake resistor is applied across the DC bus circuit.
Dynamic braking can be employed under a stop command or
anytime a decrease in motor speed is commanded, provided
the AC drive is Active and programmed for ramp stop (fast
ramp mode). Since the dynamic brake is active anytime the
system is powered up, the braking circuit must be protected
with an overload device.
Control Techniques offers two types of dynamic braking kits
for AC Drives.
The E-stop duty kits provide a means of quickly stopping a
Cyclic Duty
motor / load as well as providing the ability to dissipate energy
Resistor Assembly
created by either a change in motor speed or a line transient
(commutation spike from a DC drive) which might otherwise
cause nuisance over-voltage trips.The cyclic duty kits are
intended for more severe applications that need the capability
to dissipate regenerated energy on a more continuous or
repetitive basis such as indexers, feeders and dynamometers.
To order: consult your local Drive Centre

/Distributor for locally stocked solution.
Duty Cycle
Power Accessories

Line and Load Reactors

Line reactors (also called line chokes) are a common power
accessory for electronic variable speed drives.These
components add an extra margin of protection for AC and
DC drives by reducing the local effects of power line
transients resulting from Power Factor (PF) correction
capacitor switching, lightning storms and general power grid
switching. Line reactors are also used on the output of AC
drives to reduce the effects of high motor wiring capacitance
(nuisance overcurrent trips) and to soften the dv / dt (high
rates of change of voltage) applied to the motor windings.
Isolation Transformer
Reactors in AC drive applications: Drive isolation transformers add an extra margin of protection
for AC and DC drives by reducing the effects of power line
Improve system power factor and help meet transients resulting from local power factor correction
IEEE 519 criteria by reducing harmonic
distortion of the input line current capacitor switching, lightning storms and general power grid
switching.They are sized to the drive KVA requirements and
Improve input line current balance are designed to withstand the mechanical stresses of current
Reduce nuisance drive over-voltage trips reversals and short circuits associated with power
caused by transient voltage spikes and semiconductor type AC and DC drives.
power line notches
Isolation transformers:
Protect input rectifiers from in-rush current
caused by sudden power line surges and sags
Extend the life of the DC bus capacitor Provide electrical isolation between the
incoming line and the drive electronics
bank by reducing the internal heating
caused by ripple current Convert input line voltage to standard
drive input voltages
Protect motor windings from long lead
effects when used on the drive output Minimise line disturbances caused by SCR
power converters
Reduce power line harmonics caused by drives
Line Reactors in DC drive applications: Protect the motor controller by reducing
available short circuit potential.This may
Minimise crosstalk between multiple SCR be a UL requirement in installations with
drives by reducing line notching and
high levels of short circuit potential
subsequent dv / dt misfiring / bridge failures
Eliminate SCR failures caused by high Network Communications
dv/dt levels associated with stiff or power
factor corrected power lines
Power Accessories
Protect other line-powered sensitive

electronic equipment by filtering electrical
noise / interference caused by drives on the
power line
To order: consult your local Drive Centre

/Distributor for locally stocked solution.

Electromagnetic Compatibility Filters EMC data sheets are available for digital drive products.These
data sheets list the applicable harmonised standards and give
EMC filters are used to minimise high frequency power supply
recommended installation techniques and further information
line disturbances caused by PWM AC drives that may interfere
on EMC behaviour in typical situations.
with proper operation of sensitive electronic equipment.These
specific filters have been assessed for conformance with the The filters are built and tested to the safety standard
EMC directive by testing with the appropriate Control EN-33200.
Techniques drives.
Commander SK EMC Filter Selection
Drive EMC Filter Phases Voltage Mounting
Order Code Order Code (A) Style
Commander SK size A 4200-6122 1 200-240V Footprint
Commander SK size B 4200-6212 1 200-240V Footprint
Commander SK size C 4200-6310 1 200-240V Footprint
Commander SK size B 4200-6213 1 380-480V Footprint
Low Earth Leakage Applications
Commander SE EMC Filter Selection
Drive EMC Filter Filter Mounting Current Dimensions (mm)
Order Code Order Code Type Style (A) L xW x H
230 VAC
4200-6102 Standard Footprint / Bookend 12 242 x 100 x 40
SE11200025 - 075 4200-6101 Light Duty Block 12 114 x 58 x 46
4200-6103 Low leakage Footprint / Bookend 12 242 x 100 x 40
SE2D200075 - 220
4200-6204 Light Duty Block 26 119 x 86 x 58
Single Phase
SE2D200075 - 220
Three Phase
SE23200400 4200-6303 Light Duty Block 26 133 x 118 x 70
SE33200550 - 750
480 VAC
SE23400075 - 400 4200-6304 Light Duty Block 16 119 x 86 x 58
Power Accessories

SE33400550 - 750
SE43401100 - 1500
SE43401850
SE53402200 4200-6116 Standard Bookend 50 337 x 100 x 90

Mounting Style Filter Type
Bookend: filter mounts next to the drive Light Duty: designed for use in industrial
with the smallest dimension being the applications* with motor lead lengths <20m
width of the filter
Low Leakage: designed for use in industrial
Footprint: filter mounts between the drive or residential applications* with motor cable
heatsink and the panel or enclosure lengths <15m
Block: filter mounts on the panel near Standard: designed for use in industrial or
the drive residential applications* with motor cable
lengths <75m
* As defined by CE standards for EMC compliance

Unidrive 6 EMC Filter Selection
Note: A zero-space EMC filter adequate for most applications is standard on the Unidrive 6.
Drive EMC Filter Mounting Current Dimensions (mm)
Order Code Order Code Style (A) H xW x D
200V AC
SP1201-1202 4200-6118 Footprint/Bookend 10 440 x 100 x 45
SP3201-3202 4200-6307 Footprint/Bookend 75 414 X 250 X 60
SP4201-4203 4200-6406 Block 101 300 X 225 X 100
400V AC
SP3401-3403 4200-6305 Footprint/Bookend 62 414 X250 X 60
SP4401-4403 4200-6406 Block 101 300 x 225 x100
SP5401-5402 4200-6503 Block 164 300 x 250 x 120
SP6401-6402 4200-6603 Block 260 *
575V AC
SP3501-3507 4200-6309 Footprint/Bookend 30 414 x 250 x60
690V AC
SP4601-4606 4200-6408 Block * *
SP5601-5602 4200-6504 Block * *
SP6601-6602 4200-6604 Block * *
* Consult Drive Centre Network Communications
Mentor EMC Filter Selection
Drive Line reactors EMC Filter Mounting Style Current Dimensions (mm)
Power Accessories
Order Code La, Lb, Lc (H) Order Code (A) H xW x D

M25, M25R 200 4200-6116 Bookend 50 337 x 100 x 90
M45, M45R 200 4200-6116 Bookend 50 337 x 100 x 90
M75, M75R 100 4200-6117 Bookend 63 377 x 103 x 150
M105, M105R 100 4200-6106 Bookend 100 380 x 107 x 150
M155, M155R 75 4200-6107 Bookend 150 414 x 135 x 175
M210, M210R 75 4200-6111 Bookend 180 502 x 157 x 170
M350, M350R 35 4200-6115 Bookend 300 655 x 156 x 230
For higher current ratings consult Drive Centre/Distributor

CT-START-Soft Starter Smooth Starting

Overview; Feature Performance
Starting a motor generates current surges, vibrations, voltage

OVERVIEW drops, imbalances, transmission slackening, pressure surges
and mechanical stress.
CT-START is a multi-function electronic motor starter
CTStart
incorporating a microprocessor, control circuitry and a CT-START's electronic design means that it can be
thyristor power stage. It is designed for use with all used for smooth starting and precise adjustment of the
3-phase squirrel cage starting torque.
induction motors. It ensures smooth acceleration, thus limiting the forces to
Unlike the traditional systems which the machine is subjected.
(Direct-on-Line (D.O.L.),
star-delta, resistors, etc), CD/CN Resistive torque CD/CN Resistive torque
CT-Start limits and controls D.O.L. D.O.L.

the starting current and 2.5 2.5
ensures very smooth and 2 2

1.5 1.5
steady acceleration.
1 1 CT-START
CT-START includes 0.5 0.5
protection and control 10 50 100 % Nn 10 50 100 % Nn

system functions which
TORQUE CURVE TORQUE CURVE
means that installations are
kept simple and component
costs are reduce
Integral Protection
Starting, protecting and automating motor control systems
traditionally requires the installation of a large number of
FEATURE PERFORMANCE control gear components, which means that the control panels
Current Limitation are both complex and physically large.
All traditional motor starter systems cause a current peak CT-START offers several supplementary functions which can
during the starting phase, which can vary between 6 and 9 limit the requirement for additional components, thus resulting
times the motor nominal rated current. in a reduction in the cost of materials, labour and operation.
An increase in motor control reliability is typically obtained by
CT-START, by simple adjustments, can limit the current precisely
simplifying the installation.
during the start-up phase, whilst monitoring all the thermal
characteristics of the motor. L1 L2 L3
L1 L2 L3
D.O.L. D.O.L.
ID/IN ID/IN KM1
7 7 1 3 5 1 3 5 1 3 5
KM2 KM3 KM1

6 6 2 4 6 2 4 6 2 4 6
5 5 CT-START
CT-START
U1 V1 W1
4 4
1 3 5
3 3 Rth U1 V1 W1
2 4 6
2 2 U2 V2 W2
1 1
10 50 100 % Nn 10 50 100 % Nn
CURRENT CURVE CURRENT CURVE

RATINGS TERMINAL DIAGRAMS

200 to 500VAC 50/60Hz 3 Phase
Ratings;Terminal Diagrams
Maximum Maximum
Model Rated Motor Starts per hour start time
Current at 3 x In at 3 x In STV1312
CTStart
STV1312 14 06 6 15 30s
STV1312 14 10 10 15 30s
STV1312 14 16 16 10 30s
STV1312 14 22 22 10 30s
STV1312 14 30 30 10 30s
STV1312 14 44 44 10 30s
Maximum Maximum
Current at 3 x In at 3 x In
STV1312 16 06 6 15 30s
STV1312 16 10 10 15 30s
STV1312 16 16 16 10 30s
STV1312 16 22 22 10 30s
STV1312 16 30 30 10 30s
STV1312 16 44 44 10 30s

Maximum Maximum
Current (A) at 3 x In at 3 x In
STV2313 14 37 37 10 30s
STV2313 14 60 60 10 30s
STV2313 14 86 86 10 30s STV2313
STV2313 14 145 145 10 30s
STV2313 14 211 211 10 20s
STV2313 14 250 250 5 20s
STV2313 14 365 365 5 20s
STV2313 14 530 530 5 20s
STV2313 14 700 700 5 20s
STV2313 14 900 900 5 20s
Maximum Maximum
Current (A) at 3 x In at 3 x In
STV2313 16 37 37 10 30s
STV2313 16 60 60 10 30s
STV2313 16 86 86 10 30s
STV2313 16 145 145 10 30s
STV2313 16 211 211 10 20s
STV2313 16 250 250 5 20s
STV2313 16 365 365 5 20s
STV2313 16 530 530 5 20s
STV2313 16 700 700 5 20s
STV2313 16 900 900 5 20s
In= Motor rated current

Normally open relay

Terminal Description; Dimensions
CT-START
Reference No. of terminal Designation Function/Characteristic
CTStart
Outputs
1 K1 relay * Normally open relay
2 Normally closed - Open on trip Max. voltage 250V AC
3 K2 programmable output Switching power : 3A non inductive load
STV1312 & STV2313
4 relay
Inputs
5 Ground terminal Connection of shielding
For permanent connection:
6-8 linked
Run 6 Run - stop control 7-8 run command: C = Run
Stop 7 inputs O = Stop
Com 8 For momentary action:
6-8 Run command momentary close
7-8 Stop command momentary open
Reset 9 Trip reset input Momentary close terminals 9
and common.
Com 10 Common terminal Electronic reference voltage
STV 2313
Emergency stop on opening of the link

ONLY
Inhibit 11 Emergency stop input between terminals 11 and Common.

Immediate and direct inhibiting of thyristors
12 Ground terminal Connection of shielding
* This relay becomes programmable using the optional remote keypad.
DIMENSIONS (mm)
STV 1312: 6, 10, 16, 22
DIMENSIONS (mm)
Rating STV1312 6 10 16 22 30 44
H1 253 253 253 253 336 336
Mounting
L1 130 130 130 130 169 169
Screw D1 6.5 6.5 6.5 6.5 6.5 6.5
H2 273 273 273 273 356 356
Overall P2 116 116 153 153 138 138
L2 155 155 155 155 209 209
Weight (kg) 2.2 2.2 4.3 4.3 4.8 4.8

STV 2313: 365, 530, 700, 900 STV 2313: 37,60,86,

145,211,250
Dimensions; Options
CTStart
DIMENSIONS (mm)
Rating STV 2313 37 60 86 145 211 250 365 530 700 900
H1 336 350 350 385 385 385 300 300 300 300
Mounting
L1 169 168 168 240 240 240 410 410 410 410
Screw D1 6 6 6 6 6 6 12 12 12 12
H2 355 370 370 405 405 405 803 803 803 803
Overall P2 235 235 235 265 265 265 365 365 365 365
L2 220 220 220 370 370 370 445 445 445 445
Weight (kg) 9 9 9 25 25 25 55 55 65 5
OPTIONS CT52313 RV START SPEED FEEDBACK CONTROL MODULE

ES START I/O MODULE The RV-START module, when used with the CT-START CTS,
2 logic inputs controls the speed feedback in order to ensure smooth repetitive
starts, whatever the load of the machine being driven.
- management of external faults,
- or multi-parameter entry: starting several motors, Applications: installations where the starting load varies considerably
2-speed motors, no-load or on-load starting (conveyors, bucket elevators, mixers, ball mills, etc.)
2 logic outputs - can provide 4 alarm relays The RV-START module also has a logic input which
allows for the double entry of CT-START parameters
1 analogue input when it is being used with a 2-speed motor.
1 PTC input (6 probes) 3 types of speed feedback:
2 analogue outputs - can provide feedback relating to the current - D.c. or a.c. tacho
or the power drawn by the motor
- 3-wire proximity sensor
CDC START REMOTE KEYPAD - 4 - 20 mA signal
The CDC START terminal has 8 keys, 1 LED and 1 32-character
FR START D.C. INJECTION MODULE
LCD, and is designed for starters in the CTS 2313 range.
Braking before starting
When used with the base model, it:
Braking on deceleration
is used for programming, diagnostics and displaying the parameters, Keeping the motor free from condensation
provides clear displays concerning the operation of the motor, Drying the motor
accesses additional functions: CD
C-
ST
AR
T
OTHER OPTIONS
- saving a set of parameters
- limiting the number of starts
PA
R RU
N
Quick-blow fuses, optional on ratings 250 A, and standard on ratings
365 A
ST OP T
DE RE SE
MO M.
ME
- locking the settings using a personal code

CURRENT : 12 50 A
IP 20 kit on ratings 250 A
- additional, more precise settings CURRENT
OPERAT ING: 31 559H
F AUL T- 1
CU IP 53 version Starter enclosure
- entering option parameters, etc F AUL T- 2
POWE R : 9 7 %P N
Connection kit Autotransformer
P WR . F A C T O R : 0 . 8 7

Unimotors
OVERVIEW
The Unimotor range has been developed following extensive
research and testing of thermal dynamic theories and practices.
This range is available in five frame sizes 75; 95; 115; 142
and 190mm, in a unique and instantly recognisable finned
design that offers extra strength, rigidity and thermal
performance.These are important features for high
performance servo systems.
Designed to operate from switched-mode three-phase AC
drive outputs with DC link volts up to 750V DC, this range
employs a registered UL approved insulation system.
There are three basic motor types, each for different drives.
Other options
Unimotors
UM and motors are for 400/440V nominal AC drive

Overview
supply voltage, for Unidrive 6, MAx and MultiAx. Gearboxes motor torque can be extended by a good
selection of factory-fitted gearboxes, available to order in a
EZ motors have identical mechanical construction and
wide variety of options.
feedback options, but support a different winding to suit 220V
nominal AC drives such as Unidrive 6 and Epsilon drives. Forced air-cooling customer-fitted fan blown boxes specially
designed to fit the range of motors, helps to maintain the
UM, EZ AND MOTORS motor housing temperature. (Not suitable for Motors).
UM, EZ Motor Custom specials a range of special adaptations e.g. shaft or
The UM motor has been primarily designed to operate with feedback type are already designed and may be available
the Unidrive 6, but can be used with any suitable drive. where quantities justify.
Feedback options include resolver; or incremental, sincos Cable assemblies ready made power and signal cables in
single-turn, SinCos multi-turn optical encoders. lengths of 2-100 metres to connect motors to the
appropriate drive.
Motor
The SLM version is a UM motor fitted with special
electronic feedback that operates with
Control Techniques MAx and MultiAx drives.This motor-drive
combination offers extremely high resolution, for superb
system speed control. High resolution is essential for many
system applications where speed and position errors must
be miniscule.
The feedback comprises of a special SinCos encoder and
electronics, both contained within the standard UM outline.
The encoder has a memory programmed with all the essential
motor characteristics necessary to automatically set all MAx
parameters, giving an instant Plug and Play capability.

ORDERING INFORMATION
Use the information given in the illustration below to create
an order code for a Unimotor.The top line is an example of
an order reference. Control Techniques recommends that you
order the required mating connectors at the time of placing
your motor order. For further details turn to cables. See also
the grid overleaf, which gives standard and optional features
available for each motor.
95 UM B 30 0 C A C A A
Frame Rated Speed Output Shaft Key: Inertia:

Size: 20 - 2000 rpm A - Key (Std) A - Standard (Std)
Ordering Information
75 30 - 3000 rpm (Std) B - Without Key B - High
Unimotors
95 40 - 4000 rpm See Note 1
115 60 - 6000 rpm***
142 Connection Type: Flange Mounting
190 C - Connector (Std) A - IEC (Std)
Brake:
H - Hybrid
0 - Non fitted (Std)
Motor Type: 1 - Brake fitted 24V dc
UM - For Unidrive 6
SL - For MultiAx, MAx
EZ - 220V AC Feedback Device:
A - Resolver 55RSS116
B - Incremental Encoder 3000 C/T
C - Incremental Encoder 4096 C/T
G - SinCos Encoder SCM60 (Obsolete) (multi-turn)****
H - SinCos Encoder SCS60 (Obsolete) (single turn)****
Stator Length: M - Incremental Encoder 2048 C/T
A, B, C, D, E*** P - CT Coder + SLM3 Electronics**
R - Sin/Cos Encoder SRM50 (multi-turn)
S - Sin/Cos Encoder SRS 50 (single turn)
Note1: Applies to output shaft of motor or when gearbox fitted, output shaft of gearbox.
** Available for SLM motors only (D=SLM1 E= SLM2)

*** Not available for some motors
**** Replaced by R or S types

FEATURES STANDARD & OPTIONAL

This chart shows the standard and optional features
available with each motor.
Description Order Ref. Refers to Unimotor Frame Size
75 95 115 142 190

UM 380-480 VAC Unidrive 6, Epilson
Motor Type EZ 200-240 VAC Unidrive 6, Epilson
SL 380-480 VAC MAx & MultiAx

A
B
Stator Length C
D
E N/A N/A
Unimotors

Features
10 1000 rpm
20 2000 rpm
Rated Speed 30 3000 rpm
40 4000 rpm
60 6000 rpm N/A
0 Non fitted
Brake
1 Fitted 24V DC
C Connector, rotatable
Connection Type
H Hybrid (Power terminal box)
A With key
Output Shaft Key B Without key
X Special shaft or mechanical detail
C/M Incremental encoder
P CT Coder (SLM only)
Feedback Device R SIN/COS encoder SRM50 (Multi)
S SIN/COS encoder SRS50 (Single)
A Resolver 55RSS 116
Flange Mounting A IEC Flange
A Standard
Inertia
B High
CTD/IS/2000/01 UL Insulation system
E215243 UL recognised motor
Note: E215243 UL recognised motors to be requested at time of order.
Use the codes in the Order Ref. column to build your - Standard Feature
order code. Choose one reference from each of the - Standard Option
description categories. - Limited Availability Option
N/A - Not Available

SPECIFICATION
Standard motors have UL and CAN/CSA recognised Insulation VPWM 380 /480 VAC For use with a VPWM (Voltage Pulse
System to class.The CTD/IS/2000/01 insulation system number Width Modulation) Drive with supply voltage as indicated.
on the motor number plate, together with the symbol,
denotes this. Earlier motors may display this information on a Brake 24 VDC; 1.1 A Brake supply requirements
separate label on the rear cover. KE (NOM) 147V/krpm KE ac Volts per 1000rpm with motor
If the UL symbol has E215243 underneath, then this at 20C
indicates full motor recognition.
M0/N 78.0 /60.0 Nm Mo (Stall torque) = 78.0Nm; MN
Machinery Directive 89/392/EEC amended to 98/37/EC (rated torque @ nominal speed rpm) = 60.0 Nm
PN 12.6kW PN (Power @ nominal speed) = 12.6 kW
EN 60034 General requirements for rotating electrical machinery
EN 60034-1 Duty: S1 Continuous KT (HOT) 2.24 Nm/A; Io (HOT) 34.8 A KT (Torque
Storage: -15 to +40C Operating: Min ambient 40C
Constant) at maximum operating temperature = 2.24 Nm/A
Specification; Nameplate
Less than 1000M altitude
Relative humidity: 90% Non condensing Io(HOT) (Stall Current at maximum operating temperature)
Unimotors
Thermal classification: H Delta 100/125C = 34.8 A
EN 60034-5 Degree of ingress protection: IP65S (mating connector
& cable fitted) IP65S Ingress Protection = IP65S (excludes front shaft seal)
EN 60034-6 Method of cooling: free circulation, free convection
EN 60034-7 Flange mounted: horizontally or vertically Insulation ClassH Windings are built to Class H standard
EN 60034-8 Terminal markings: U V W (180C) Motor will have further ambient and t restrictions.
EN 60034-11 Thermal protection: PTC thermistor, 165C TP111
(Not SL variants) 0-40C / t125C Ambient temperature range / (delta)
EN 60034-18 Insulation system: Class H 600V, UL number E214439 winding temperature increase above ambient (at full rating)
EN 60072 Dimensions and output for rotating electrical machines
TCW 632s Thermal Time-constant of copper winding with
ISO1940-1 Balancing: to G6.3 (ISO8821 half key convention) respect to iron laminations.
Equipment is not deemed suitable for use in an explosive atmosphere.
nN /MAX 2000 /3265 rpm nN (nominal speed) = 2000 rpm /
This product has been designed to be operated with Control Techniques drives
and must not be put into service unless the machinery into which it is to be
nMAX (maximum speed) = 3265 rpm (at maximum drive
incorporated has been declared in conformity with the provisions of the supply voltage and no load or low torque)
machinery directive.
Note: maximum speed given for motor includes limit of feedback
NAMEPLATE device, but excludes drive limits.
Values shown for KE; KT, Io, stall/rated torque (M0/N) and power f-b resolver Feedback Device is a resolver.
(PN) are for motor at full maximum rating in a 40C ambient.
Other Devices
Feedbackare as per the following
Type table.
Name
KE(NOM) is the motors back e.m.f. at 20C. Resolver resolver"
CT Coder & SLM3 "SLM3"
SinCos SRM50 1024 "SRM50"
SinCos SRS50 1024 "SRS50"
3, 8pole, PM Servomotor
Indicates number of poles.This motor has 8 poles or 4 pole EN60034
pairs. Electrical frequency = (rpm/60) x (number of pole pairs) CE (Conformit Europenne) mark and reference number.
Note: A Declaration of Incorporation is contained within the
190UMD201CBAAA
Unimotor Installation Guide that accompanies each motor.
Motor type number ref. Ordering information

Unimotor UM and SLM servo motor technical specifications For 3 Phase VPWM Drives 380-480 Vrms


Peak Torque (Nm) 3.6 6.6 9.3 11.7 6.9 12.9 17.7 22.5 27.0 10.5 19.8 28.2 37.2 45.9 18.9 32.4 45.9 59.4 70.2 65.4 123 176 219
2
Kt (Nm/A) 2.40
Rated Torque (Nm) 1.1 2.1 3.0 3.8 2.2 4.0 5.5 6.9 8.2 3.2 6.1 8.7 10.8 14.0 5.9 10.3 14.6 18.4 21.3 20.0 36.9 50.4 54.7
Rated Power (kW) 0.23 0.44 0.63 0.80 0.46 0.84 1.15 1.45 1.72 0.67 1.28 1.82 2.26 2.93 1.24 2.16 3.06 3.85 4.46 4.19 7.73 10.6 11.5
R (ph-ph) (Ohms) 144 48.2 25.0 15.7 59.0 17.0 9.90 6.00 4.30 27.8 8.55 4.55 2.96 2.17 12.5 3.60 2.10 1.35 0.98 1.80 0.56 0.33 0.23
Performance Data
Unimotors
L (ph-ph) (mH) 214 99.2 59.2 44.7 131 54.5 36.5 25.6 18.9 94.6 40.5 25.7 18.6 14.7 58.0 29.8 18.7 13.6 10.7 28.1 13.0 8.90 6.30
Kt (Nm/A) 1.6
Ke (V/krpm) 98.0
Rated Torque (Nm) 1.1 2.0 2.8 3.5 2.0 3.9 5.4 6.8 8.1 3.0 5.5 8.1 10.4 12.6 5.4 9.0 12.2 15.8 18.0 19.2 33.0 35.0 36.8
Rated Power (kW) 0.35 0.63 0.88 1.10 0.63 1.23 1.70 2.14 2.54 0.94 1.73 2.54 3.27 3.96 1.70 2.83 3.83 4.96 5.65 6.03 10.4 11.0 11.6
R (ph-ph) (Ohms) 60.8 20.1 10.5 7.5 24.5 6.80 4.00 2.50 2.00 12.6 3.86 2.02 1.40 1.10 5.63 1.72 0.94 0.61 0.44 0.79 0.30 0.14 0.09
L (ph-ph) (mH) 98.4 41.8 27.6 19.7 57.9 24.3 15.5 10.9 8.50 43.1 18.6 11.4 8.60 7.40 31.0 13.3 8.30 6.10 4.80 13.2 6.11 3.60 2.46
Kt (Nm/A) 1.20
Ke (V/krpm) 73.5
Rated Power (kW) 0.42 0.71 0.96 1.21 0.75 1.26 1.68 2.05 2.39 1.05 1.97 2.64 3.14 3.64 1.51 2.93 3.73 4.48 5.11
R (ph-ph) (Ohms) 36.8 10.5 6.30 4.20 12.7 4.08 2.10 1.50 1.03 6.91 2.14 1.16 0.73 0.57 3.12 1.00 0.53 0.35 0.24
L (ph-ph) (mH) 54.9 24.8 14.9 10.8 31.5 13.6 8.50 6.30 4.80 23.5 10.2 6.60 4.70 3.90 17.6 7.50 4.70 3.60 2.70
Kt (Nm/A) 0.80
Ke (V/krpm) 49.0
Rated Power (kW) 0.57 1.01 1.32 1.63 0.82 1.32 1.76 2.07 2.32 1.38 2.51 3.20 1.82 2.83
R (ph-ph) (Ohms) 15.0 5.00 2.66 1.90 5.45 1.82 1.05 0.62 0.48 3.1 0.97 0.50 1.42 0.46
L (ph-ph) (mH) 24.0 10.6 6.80 4.80 14.1 6.00 3.80 2.70 2.10 15.54 4.81 2.94 7.72 3.44

Unimotor EZ servo motor technical specifications For 3 Phase VPWM Drives 200 - 240Vrms
relate to maximum continuous operation in a 40 0 C ambient
t = 100C, 40C ambient
Peak Torque (Nm) 3.6 6.6 9.3 11.7 6.9 12.9 17.7 22.5 27.0 10.5 19.8 28.2 37.2 45.9 18.9 32.4 45.9 59.4 70.2 65.4 123 176 219
2
2
Kt (Nm/A) 1.40
Ke (V/krpm) 85.5
Rated Torque (Nm) 1.1 2.1 3.0 3.8 2.2 4.0 5.5 6.9 8.2 3.2 6.1 8.7 10.8 14.0 5.9 10.3 14.6 18.4 21.3 20.0 36.9 50.4
Rated Power (kW) 0.23 0.44 0.63 0.80 0.46 0.84 1.15 1.45 1.72 0.67 1.28 1.82 2.26 2.93 1.24 2.16 3.06 3.85 4.46 4.19 7.73 10.6
Performance Data
R (ph-ph) (Ohms) 45.8 15.3 8.52 5.72 19.4 6.2 3.16 2.31 1.71 9.09 2.83 1.51 0.99 0.82 4.28 1.33 0.76 0.45 0.32 0.50 0.15 0.10
Unimotors
L (ph-ph) (mH) 98.8 43.4 27.9 20.2 59.2 25.8 16.0 12.6 10.1 47.3 20.6 13.1 9.54 7.86 33.7 15.1 10.3 6.96 5.58 7.98 3.32 2.73
Kt (Nm/A) 0.93
Ke (V/krpm) 57.0
Rated Power (kW) 0.35 0.63 0.88 1.10 0.63 1.23 1.70 2.14 2.54 0.94 1.73 2.54 3.27 3.96 1.70 2.83 3.83 4.96 6.03 10.4
R (ph-ph) (Ohms) 18.9 6.26 3.50 2.38 8.03 2.68 1.57 1.03 0.77 4.01 1.30 0.73 0.47 0.37 1.90 0.59 0.31 0.20 0.25 0.08
L (ph-ph) (mH) 42.5 18.4 11.9 8.82 25.6 12.0 7.91 5.60 4.65 20.1 9.16 6.07 4.26 3.49 15.0 6.85 4.20 1.94 3.98 1.87
Kt (Nm/A) 0.72
Ke (V/krpm) 44.0
Rated Power (kW) 0.42 0.71 0.96 1.21 0.75 1.26 1.68 2.05 2.39 1.05 1.97 2.64 3.14 1.51 2.93
R (ph-ph) (Ohms) 10.2 3.39 1.92 1.48 5.15 1.64 0.92 0.62 0.43 2.62 0.82 0.44 0.29 1.20 0.36
L (ph-ph) (mH) 24.6 10.8 7.14 5.42 15.50 6.77 4.61 3.46 2.54 12.6 5.48 3.57 2.53 9.45 4.08
Kt (Nm/A) 0.47
Ke (V/krpm) 28.5
Rated Power (kW) 0.57 1.01 1.32 1.63 0.82 1.32 1.76 2.07 1.38 2.51 1.82
R (ph-ph) (Ohms) 4.49 1.49 0.95 0.65 2.01 0.67 0.35 0.26 0.96 0.30 0.49
L (ph-ph) (mH) 10.7 4.73 3.10 2.33 6.41 3.01 1.77 1.40 4.80 2.09 3.96

75UMA300 Unimotor 75UMB300 Unimotor 75UMC300 Unimotor

4.0 7 10
9
3.5
6
8
3.0
5 7
2.5 Intermittent Torque

6 Intermittent Torque
Torque (Nm)
Torque (Nm)
Torque (Nm)
2.0 5
3
4
1.5
2 3
1.0
2
1
0.5
1
0.0 0 0
0 1000 2000 3000 4000 0 1000 2000 3000 4000 0 1000 2000 3000 4000
75UMD300 Unimotor 95UMA300 Unimotor 95UMB300 Unimotor

75UMD300 Unimotor 95UMA300 Motor 95UMB300 Unimotor
14
8 14
12
7
Performance Data
12
Unimotors
10 6
10
Torque (Nm)
Torque (Nm)
Torque (Nm)
Intermittent Torque 8
4
6
6
3
4
4
2
Continuous Torque Continuous Torque

2 Continuous Torque 2
1
0 0 0
0 1000 2000 3000 4000 0 1000 2000 3000 4000 0 1000 2000 3000 4000
95UMC300 Unimotor 95UMD300 Unimotor 95UME300 Unimotor

95UMC300 Unimotor 95UME300 Unimotor
95UMD300 Unimotor
20 25
30
18
16 20 25
14
Intermittent Torque 20
12 Intermittent Torque 15
Torque (Nm)
Torque (Nm)
Intermittent Torque
Torque (Nm)
10
15
8 10
6 10
4 5
Continuous Torque 5
2
0 0
0 1000 2000 3000 4000 0 1000 2000 3000 4000 0 1000 2000 3000 4000

12 22 30
20
10 25
18
16
8 20
Intermittent Torque 14 Intermittent Torque
Torque (Nm)
Torque (Nm)
Torque (Nm)
Intermittent Torque
12
6 15
10
8
4 10
6
2 Continuous Torque 4 5 Continuous Torque

Continuous Torque
2
0
0 1000 2000 3000 4000 0 1000 2000 3000 4000 0 1000 2000 3000 4000
All graphs are at 40C ambient and 400VAC drive supply.

115UMD300 Unimotor 115UME300 Unimotor 142UMA300 Unimotor

115UMD300 Unimotor 115UME300 Unimotor 142UMA300 Unimotor
40 50 20
18
35
40 16
30
14
Intermittent Torque 30 12
Torque (Nm)
Torque (Nm)
Intermittent Torque
Torque
20 10
20 8
15
6
10
10 4
Continuous Torque
5
2
0 0 0
0 1000 2000 3000 4000 0 1000 2000 3000 4000 0 1000 2000 3000 4000
142UMB300 Unimotor 142UMC300 Unimotor 142UMD300 Unimotor

142UMB300 Unimotor 142UMC300 Unimotor
142UMD300 Unimotor
35 70
50
30 60
Performance Data
40
Unimotors
25
50
Intermittent Torque Intermittent Torque

Torque (Nm)
20 30
Torque (Nm)
Torque (Nm)
15
30
20
10
20
10
5
10
Continuous Torque
-0 0
0 1000 2000 3000 4000 0 1000 2000 3000 4000
0
Speed (rpm) 0 1000 2000 3000 4000
Speed (rpm)
Speed (rpm)
142UME300 Unimotor 190UMA300 Unimotor 190UMB300 Unimotor

142UME300 Unimotor
115UME300 190UMA300 Unimotor 190UMB300 Unimotor
80 70 140
70 60 120
60
50 100
Intermittent Torque
50
Torque (Nm)
Torque (Nm)
Intermittent Torque Intermittent Torque

Torque (Nm)
40 80
40
30 60
30
20 40
20
Continuous Torque
Continuous Torque 10 20 Continuous Torque
10
0 0 0
0 1000 2000 3000 4000 0 1000 2000 3000 4000 0 1000 2000 3000 4000
190UMC300 Unimotor 190UMD300 Unimotor

190UMC300 Unimotor 190UMD300 Unimotor
200 240
180 210
160
180
140
150
Torque (Nm)

Torque (Nm)
Intermittent Torque
100 120
80 90
60
60
40
30
20
0
0 1000 2000 3000 4000 0 1000 2000 3000 4000
All graphs are at 40C ambient and 400VAC drive supply 300rpm.

CTD/IS/2000/01 Note: Unimotors with Hybrid boxes for motor power

connection and S special designated motors are not UL
UL and CAN/CSA Recognition marking for the Motor
recognised and for these motors this mark will be excluded.
Insulation system USR and CNR Class 180(H) electrical
insulation system designated "CTD/IS/2000/01". PERFORMANCE DEFINITIONS
The UL list number for this is E214439 Specifications differ for the UL motor only by presentation of the
Note: USR - United States Standards Recognised. performance data in the tables and upon the motor label.
CNR - Canadian National Standards Recognised in Magnetic characteristics vary with motor temperature and the
accordance with CAN/CSA C22.2 No. 0-M91, Appendix B. parameters shown are for worst case full rating in a 40 degrees C
UL and CAN/CSA recognition marking for the Unimotor ambient, whereas for standard motors it has been conventional to
types UM; SL; EZ; DM. quote nominal values for Kt and current. However, it should be
This UL File number signifies recognition for the complete motor. noted that stall and rated torque have always been depicted as
for worst case for both standard and now UL motor versions.
Unimotor UM and SLM (UL recog.) servo motor technical specifications For 3 Phase VPWM Drives 380-480 Vrms
Performance Data
Unimotors


Peak Torque (Nm) 3.6 6.6 9.3 11.7 6.9 12.9 17.7 22.5 27.0 10.5 19.8 28.2 37.2 45.9 18.9 32.4 45.9 59.4 70.2 65.4 123 176 219
2
Kt (Nm/A) 2.10
Rated Torque (Nm) 1.1 2.1 3.0 3.8 2.2 4.0 5.5 6.9 8.2 3.2 6.1 8.7 10.8 14.0 5.9 10.3 14.6 18.4 21.3 20.0 36.9 50.4 54.7
Rated Power (kW) 0.23 0.44 0.63 0.80 0.46 0.84 1.15 1.45 1.72 0.67 1.28 1.82 2.26 2.93 1.24 2.16 3.06 3.85 4.46 4.19 7.73 10.6 11.5
R (ph-ph) (Ohms) 144 48.2 25.0 15.7 59.0 17.0 9.90 6.00 4.30 27.8 8.55 4.55 2.96 2.17 12.5 3.60 2.10 1.35 0.98 1.80 0.56 0.33 0.23
L (ph-ph) (mH) 214 99.2 59.2 44.7 131 54.5 36.5 25.6 18.9 94.6 40.5 25.7 18.6 14.7 58.0 29.8 18.7 13.6 10.7 28.1 13.0 8.90 6.30
Kt (Nm/A) 1.4
Ke (V/krpm) 85.8
Rated Torque (Nm) 1.1 2.0 2.8 3.5 2.0 3.9 5.4 6.8 8.1 3.0 5.5 8.1 10.4 12.6 5.4 9.0 12.2 15.8 18.0 19.2 33.0 35.0 36.8
Rated Power (kW) 0.35 0.63 0.88 1.10 0.63 1.23 1.70 2.14 2.54 0.94 1.73 2.54 3.27 3.96 1.70 2.83 3.83 4.96 5.65 6.03 10.4 11.0 11.6
R (ph-ph) (Ohms) 60.8 20.1 10.5 7.5 24.5 6.80 4.00 2.50 2.00 12.6 3.86 2.02 1.40 1.10 5.63 1.72 0.94 0.61 0.44 0.79 0.30 0.14 0.09
L (ph-ph) (mH) 98.4 41.8 27.6 19.7 57.9 24.3 15.5 10.9 8.50 43.1 18.6 11.4 8.60 7.40 31.0 13.3 8.30 6.10 4.80 13.2 6.11 3.60 2.46
Kt (Nm/A) 1.05
Ke (V/krpm) 64.4
Rated Power (kW) 0.42 0.71 0.96 1.21 0.75 1.26 1.68 2.05 2.39 1.05 1.97 2.64 3.14 3.64 1.51 2.93 3.73 4.48 5.11
R (ph-ph) (Ohms) 36.8 10.5 6.30 4.20 12.7 4.08 2.10 1.50 1.03 6.91 2.14 1.16 0.73 0.57 3.12 1.00 0.53 0.35 0.24
L (ph-ph) (mH) 54.9 24.8 14.9 10.8 31.5 13.6 8.50 6.30 4.80 23.5 10.2 6.60 4.70 3.90 17.6 7.50 4.70 3.60 2.70
Kt (Nm/A) 0.70
Ke (V/krpm) 42.9
Rated Power (kW) 0.57 1.01 1.32 1.63 0.82 1.32 1.76 2.07 2.32 1.38 2.51 3.20 1.82 2.83
R (ph-ph) (Ohms) 15.0 5.00 2.66 1.90 5.45 1.82 1.05 0.62 0.48 3.1 0.97 0.50 1.42 0.46
L (ph-ph) (mH) 24.0 10.6 6.80 4.80 14.1 6.00 3.80 2.70 2.10 15.54 4.81 2.94 7.72 3.44
For performance graphs see previous spread.

Unimotor EZ (UL recog.) servo motor technical specifications For 3 Phase VPWM Drives 200 - 240Vrms
relate to maximum continuous operation in a 40 0 C ambient
t = 100C, 40C ambient
Peak Torque (Nm) 3.6 6.6 9.3 11.7 6.9 12.9 17.7 22.5 27.0 10.5 19.8 28.2 37.2 45.9 18.9 32.4 45.9 59.4 70.2 65.4 123 176 219
2
2
Kt (Nm/A) 1.22
Ke (V/krpm) 75.0
Rated Torque (Nm) 1.1 2.1 3.0 3.8 2.2 4.0 5.5 6.9 8.2 3.2 6.1 8.7 10.8 14.0 5.9 10.3 14.6 18.4 21.3 20.0 36.9 50.4
Rated Power (kW) 0.23 0.44 0.63 0.80 0.46 0.84 1.15 1.45 1.72 0.67 1.28 1.82 2.26 2.93 1.24 2.16 3.06 3.85 4.46 4.19 7.73 10.6
Performance Data
R (ph-ph) (Ohms) 45.8 15.3 8.52 5.72 19.4 6.2 3.16 2.31 1.71 9.09 2.83 1.51 0.99 0.82 4.28 1.33 0.76 0.45 0.32 0.50 0.15 0.10
Unimotors
L (ph-ph) (mH) 98.8 43.4 27.9 20.2 59.2 25.8 16.0 12.6 10.1 47.3 20.6 13.1 9.54 7.86 33.7 15.1 10.3 6.96 5.58 7.98 3.32 2.73
Kt (Nm/A) 0.82
Ke (V/krpm) 49.9
Rated Power (kW) 0.35 0.63 0.88 1.10 0.63 1.23 1.70 2.14 2.54 0.94 1.73 2.54 3.27 3.96 1.70 2.83 3.83 4.96 6.03 10.4
R (ph-ph) (Ohms) 18.9 6.26 3.50 2.38 8.03 2.68 1.57 1.03 0.77 4.01 1.30 0.73 0.47 0.37 1.90 0.59 0.31 0.20 0.25 0.08
L (ph-ph) (mH) 42.5 18.4 11.9 8.82 25.6 12.0 7.91 5.60 4.65 20.1 9.16 6.07 4.26 3.49 15.0 6.85 4.20 1.94 3.98 1.87
Kt (Nm/A) 0.63
Ke (V/krpm) 38.5
Rated Power (kW) 0.42 0.71 0.96 1.21 0.75 1.26 1.68 2.05 2.39 1.05 1.97 2.64 3.14 1.51 2.93
R (ph-ph) (Ohms) 10.2 3.39 1.92 1.48 5.15 1.64 0.92 0.62 0.43 2.62 0.82 0.44 0.29 1.20 0.36
L (ph-ph) (mH) 24.6 10.8 7.14 5.42 15.50 6.77 4.61 3.46 2.54 12.6 5.48 3.57 2.53 9.45 4.08
Kt (Nm/A) 0.41
Ke (V/krpm) 25.0
Rated Power (kW) 0.57 1.01 1.32 1.63 0.82 1.32 1.76 2.07 1.38 2.51 1.82
R (ph-ph) (Ohms) 4.49 1.49 0.95 0.65 2.01 0.67 0.35 0.26 0.96 0.30 0.49
L (ph-ph) (mH) 10.7 4.73 3.10 2.33 6.41 3.01 1.77 1.40 4.80 2.09 3.96
For performance graphs see previous spread.

OUTLINE DRAWINGS - FRAME SIZES 75 - 190
V
C
75.0
MODEL: SERIAL No:
8
9
SPEED: Ke:
7
10
16
INS CLASS: Kt:
P
E
15
11
12
6
POLES: STALL:
17
BRAKE:
14
5
1
13
4
2
3
CONTROL
TECHNIQUES MADE IN EC
F B
G
A
T R
K
4 HOLES DIA 'H'
S
UNIMOTOR UM
L
M
EQUISPACED ON J PCD
Unimotors
Note: Power connector can be rotated

Dimensions
DIMENSIONS (mm)
Dimensions - Frame Sizes 75 - 190 (Note: Overall dimensions shown are maximum values)
Frame size 75 95 115 142 190
Dimension / Length suffix A B C D A B C D E A B C D E A B C D E A B C D
A Length Overall (Unbraked) 211 241 271 301 222 252 282 312 342 242 272 302 332 362 225 255 285 315 345 273 327 381 435
A Length Overall (Braked) 241 271 301 331 252 282 312 342 372 272 302 332 362 392 285 315 345 375 405 327 381 435 489
B Body Length (Unbraked) 146 176 206 236 157 187 217 247 277 177 207 237 267 297 160 190 220 250 280 210 264 318 372
B Body Length (Braked) 176 206 236 266 187 217 247 277 307 207 237 267 297 327 220 250 280 310 340 264 318 372 425
C Flange Square 75.0 95.0 115.0 142.0 190.0
D Flange Thickness 7.0 9.0 11.0 12.3 14.5
E Register Diameter 60.0 (J6) 80.0 (J6) 95.0 (J6) 130.0 (J6) 180.0 (J6)
F Register Length 2.4 2.9 2.9 3.4 4.0
G Power to Connect C/L 61.0 62.5 66.0 80.0 14.5 (H14)
H Fixing Holes Diameter 5.8 (H14) 7.0 (H14) 10.0 (H14) 12.0 (H14) 215.0
J Fixing Hole p.c.d. 75.0 100.0 115.0 165.0 260.0
K Overall Height 126.0 146.0 166.0 193.0 161.1
L Signal Connector Height (UM) 107.0 117.0 127.0 140.0 58.0
M Signal Connector Height (SL) 88.0 98.0 108.0 121.0 32.0(K6)
N Shaft Length (front) 23.0 30.0 30.0 30.0 30.0 40.0 40.0 40.0 40.0 40.0 40.0 40.0 50.0 50.0 50.0 50.0 50.0 50.0 50.0 58 58 58 58
P Shaft Diameter (J6) 11.0 14.0 14.0 14.0 14.0 19.0 19.0 19.0 19.0 19.0 19.0 19.0 24.0 24.0 24.0 24.0 24.0 24.0 24.0 32 32 32 32
Shaft Key Dimensions
(option A)
R Key Length 14.0 22.0 22.0 22.0 22.0 32.0 32.0 32.0 32.0 32.0 32.0 32.0 40.0 40.0 40.0 40.0 40.0 40.0 40.0 49.0
S Key Height 12.4 15.9 15.9 15.9 15.9 21.4 21.4 21.4 21.4 21.4 21.4 21.4 26.9 26.9 26.9 26.9 26.9 26.9 26.9 35.0
T Key to Shaft End 3.5 3.0 3.0 3.0 3.0 3.0 3.0 3.0 3.0 3.0 3.0 3.0 4.0 4.0 4.0 4.0 4.0 4.0 4.0 3.1
V Key Width 4.0 5.0 5.0 5.0 5.0 6.0 6.0 6.0 6.0 6.0 6.0 6.0 8.0 8.0 8.0 8.0 8.0 8.0 8.0 10.1
Typical Weight (Kg)
Low Inertia 3.5 4.3 5.1 5.8 4.7 6.1 7.3 8.8 10.2 7.3 8.9 10.6 12.5 14.2 9.4 12.1 14.7 17.6 20.3 23.2 32.0 40.8 49.5
Low Inertia (braked) 3.9 4.8 5.4 6.3 5.3 6.7 7.9 9.4 10.8 8.5 10.1 11.8 13.7 15.4 11.2 13.9 16.5 19.4 22.1 25.2 34.0 42.8 51.5
High Inertia 3.7 4.6 5.6 6.1 5.6 7.0 8.2 9.7 11.1 8.2 9.8 11.5 13.4 15.1 11.7 14.4 17.0 19.9 22.6 25.5 34.3 43.3 52.0
High Inertia (braked) 4.2 5.1 5.9 6.6 6.2 7.6 8.8 10.3 11.7 9.4 11.0 12.7 14.6 16.3 13.5 16.2 18.8 21.7 24.4 27.6 36.3 45.3 54.0

FEEDBACK DEVICES The Unidrive 6 has an incremental encoder interface as

standard, but with a suitable optional interface to resolver or
Feedback is the essence of a servo system.
sincos (single or multi-turn) types.
High quality servo performance depends upon the rigidity of
The MAx and MultiAx drives operate with the SL motors
the mechanics of the servo system to permit high servo gains
with a special sincos-based CT-Coder and built-in
and bandwidth without resonance and instability, and upon the
electronics.
resolution and accuracy of the feedback device.
Feedback type should be chosen to suit the particular
The Unimotor offers selection of feedback types suitable
application, and the table below summarises the
for use with the Unidrive 6 or the MAx and
considerations.
MultiAx drives.
Feedback Motor Motor Feedback Positional Absolute / Multi-turn

Comments
type types t C Resolution Accuracy Non- Volatile? available?
Use for
Resolver UM 125 1.3 40 min Unidrive 6 option module
Feedback Devices
arc min 16384/ rev Yes No for high temp /
Unimotors
spread harsh environment
Incremental optical UM 1.3 Suits most applications.
encoder 4096 ppr to 100 arc min +/-60 sec No No Low speed control down to
in quadrature 3000rpm 16384/ rev 1rpm 300kHz b/w
Incremental optical UM 2.6 Suits most applications.
encoder 2048 ppr to 100 arc min +/-60 sec No No Low speed control down to
in quadrature 3000rpm 8192 / rev 1rpm 300kHz b/w
0.3 Use for high resolution
arc sec with Unidrive 6,
2.097 Analogue signal is susceptible
Sincos optical UM 100 x106 / rev +/-52 sec Yes Yes to noise distortion.
encoder 1024 1x105 / rev Low speed control below 1rpm
cycles/rev best in Better stability when load /
practice motor inertia match is poor.
Multi-turn counts 0 to
4096 max
0.16 Yes Use for highest resolution with
arc sec Limited position MAx or MultiAx drives.
optical CT-Coder SL 100 8 x 106 /rev +/-52sec at start up No Interpolation at motor and
1024 cycles/rev Not multi-turn digital link to drive
using technology.
Better stability when load /
motor inertia match is poor.

FAIL SAFE PARKING BRAKES

Any Unimotor may optionally be ordered with an internal
rear mounted parking brake.The brake works on a fail safe
principle: the brake is active when the supply voltage is
switched off and the brake is released when the supply
voltage is switched on. The table below shows the delay times
that occur when the brake is switched on or off. Shunting the
brake with an external diode to avoid switching peaks
increases the coil's decay time considerably.
If a motor is fitted with a fail safe brake, take care not to
expose the motor shaft to excessive torsional shocks or
resonances when the brake is engaged or disengaged. Doing
so can damage the brake.
SAFETY NOTE:The Fail-Safe Brake is for use as a holding
brake with the motor shaft stationary. Do NOT use it as a
Unimotors
dynamic brake, except for emergencies such as a mains

Brakes
supply failure.
Technical Data
MOTOR STATIC RELEASE TIME BRAKE ON-TIME BRAKE ON-TIME

FRAME SIZE VOLTS POWER TORQUE (Coil Energised) (Coil de-energising (Coil de-energising INERTIA BACKLASH
no diode) with diode)
(mm) DC W (Nm) (ms nominal) (ms nominal) (ms nominal) (kgcm2)*1 (degrees)
75 24 6.3 2 22 24 100 0.03 0.75
95 24 16 6 30 20 140 0.29 0.75
115 24 16 12 40 10 60 0.49 0.75
142 24 23 20 85 30 200 1.28 0.6
190(A/B) 24 25 40 95 15 85 1.28 0.6
190(C/D) 24 25 60 120 20 150 2.50 0.6
*1 1kgcm2 = 1x1\0-4kgm2
Note that the brake response time is extended when a diode

is fitted across the brake coil at the driver (customer) end.
This is usually required to protect solid state switches, or to
reduce arcing at the relay contacts

SERVO GEARBOXES The motor-gearbox assembly is normally supported from

the front face / flange of an in-line gear reducer. For a right
Although Unimotors can operate smoothly at full torque
angled gearbox, the mounting support is also to the gearbox
from 1 rpm (sincos and SL - from small fractions of rpm) to
flange, but for the others, mounting support is to the
full rated speed, the addition of a gearbox can be a useful
gearbox frame.
torque multiplier and can also provide a better match to high
inertia loads. Features Gearboxes
A Gearbox May Help If:- High quality, low backlash, low noise
Load is high torque, usually below 1000rpm Taper bearings
Load is high inertia Wide selection
Load has unusually high axial or radial loads Planetary gearboxes for high efficiency and low inertia
Small overall size with small motor High strength
Possible cost reduction with smaller motor & drive package Long service life
Space constraints where right angle option or smaller Ratios to sort application consult drive centre
Unimotors
Gearboxes
overall package helps
Lifetime lubrication to suit any mounting attitude
For example:-
Gearbox IP64 protection rating
A 1.2Nm 4000rpm motor fitted with 100:1 ratio gearbox
To suit all 55 to 190 UM, SL, & EZ motors
gives a continuous torque around 100Nm, albeit at a
reduced speed of 40rpm max.
A 4,000rpm motor with a 4:1 gearbox in certain

circumstances may offer a better performance than a
2,000rpm motor alone working at 1000rpm with large
inertial load.The motor torque required for the gearbox is
3 to 4 times less, whilst the reflected load inertia is reduced
by 16 (=ratio2), so that a better match of motor/load
inertia results and greater stability with higher servo gains
are possible.
Whats Available:-
Control Techniques offers a range of gearboxes supplied fitted
to any Control Techniques motor (55 to 190 frame sizes).
If required, gearboxes can also be supplied separately.
Gearbox Styles & Types
By following a simple selection procedure, a suitable motor-
Gearbox parameters for various manufacturers and gearbox
gearbox combination may be selected from specifications
types are included at the end of the gearbox section. From this
provided in this section.
and the information below, select a gearbox type to suit
Gearbox specifications appended to this section are quality
requirements, including backlash. Reduced backlash is available by
planetary gearboxes and include low backlash, standard
special request only where indicated.
backlash, single-stage, and two-stage with ratios up to 100:1.
Gearboxes with 90 degree angled output shafts can increase
the possible ratio permutations up to 200:1.
The gearbox output shaft can optionally be fitted with key.
The motor-gearbox assembly comprises of the gearbox, an
integral gearbox adaptor plate, and a standard Control
Techniques motor.

POWER AND SIGNAL CABLES

Cables are an important part of a servo system installation. Not
only must the noise immunity and integrity of the cabling and
connectors be correct, but also SAFETY and EMC regulations
must be complied with to ensure successful, reliable and fail-safe
operation. One of the most frequent problems experienced by
motion systems engineers is incorrect wiring connection of the
motor to the drive.
Control Techniques ready-made cables mean system installers
can avoid the intricate, time consuming assembly normally
associated with connecting servo systems. Installation and
set-up time are greatly reduced - there is no fiddling with wire
connections and crimp tools, and no fault finding.
The cables are made to order in lengths from 2m to
Power & Signal Cables
50m /100m.
Unimotors
Cable Range
Cable range for motor-drive combinations:
UM & Unidrive 6
PUR Cable Features
and MAx or MultiAx
Dynamic performance
EZ & Unidrive 6 (200V)
PUR outer sheath for oil resistance and dynamic
EZ & Epsilon performance
MM & MiniAx Complies with DESINA coding - Orange for power, green
Power cable variants: for signal
Phase conductors 1.5mm2 ( 16A) to 16mm2 (70A) Power cable and plugs UL recognised
With and without brake wire pairs Optimum noise immunity
Motor end - Connector Shielded brake supply wires
Motor end - Hybrid (power terminal box) UM Encoder cable has low volt drop for long cable lengths
and separately screened thermistor wires
Tailored to suit drive (ferrules; strands; ring terminals)
Signal cable feedback types:
Brake wires are separately shielded within power cable
Incremental No need for crimp and insertion / removal tools
Resolver Production build gives quality and price benefits
SinCos Compatible with wide range of Control Techniques motors

and drives
Braided screen for greater flexibility and wear
Cable tailored to suit drive (ferrules; connectors)
Power cables with or without brake wires
MAx to MAx Drive interconnects available
Cable assembly type identification label

Cables with Designer Colours (Power = Orange, Signal = Green)
Power
Phase & Conductor Size Unimotor size Current Overall cable Overall cable
power plug size rating diameter (mm) diameter (mm)
No brake braked
G - 1.5mm2 (16A) 75-142 size 1 30A sockets 10.2 12.0
A - 2.5mm (22A)
2
75-142 size 1 30A sockets 11.8 12.8
B - 4.0mm2 (30A) 75-142 size 1 30A sockets 14.4 14.4
190 size 1.5 53A sockets
C - 6.0mm2 (37A) 190 size 1.5 70A sockets 17.4 17.4
D - 10.0mm (52A)
2
190 size 1.5 70A sockets 20.4 20.4
E - 16.0mm (70A)
2
190 size 1.5 70A sockets 23.4 23.4

F - 1mm2 (Unscreened) DS Brake
Unimotors
Note: minimum bend radius = 10 x dia
Signal
Drive Type Motor Type Cable Type
Unidrive 6 UM Encoder SI:SinCos SS: Resolver SR
MAx / MultiAx SL Speed Loop Module SL
Epilson / EN / EZ Encoder SI: Resolver SR
MiniAx MM Encoder SI
Signal Basic Cable Types

Cable Type Cable Code Cable diametre (mm)
Encoder SIBA 10.9
Resolver / SinCos SRBA/SSBA 9.6
SLM SLBA 6.2
Low Cost Encoder SIBL 8.5

SELECTING POWER CABLES Connection detail drive end Select the correct drive end
connection for the drive in use.
Cable type PS for motor without brakes, PB for motors
with brake. Connection detail motor end Select the correct motor end
connection for the motor in use.
A is for a PVC sheath to be used on the DS brake cable only. Length Numbers represent the required cable length in
metres. Conversion cables will be limited to 0.4m only and the
Conductor Size Select the conductor size according to the
motors STALL CURRENT.
Cables of 6mm2 and above will be fitted with ring
terminals only.
Ratings are for individual cables (not lashed together) in free air
temperature up to 40C make allowances as appropriate.
Unimotors
Connector Details Motor End:

Motor End
Phase & E A 75-142 Unimotor power connector
Conductor Size B 190 Unimotor power connector
C 75-142 hybrid box Ferrules
G 1.5 mm2 16A
D 190 hybrid box Ferrules
A 2.5mm2 22A
E 75-95 DS power connector
B 4.0mm2 30A
Cable Type: F 115-142 DS power connector
C* 6.0mm2 39A
PS - Power (Standard) G** DS Brake connector
D* 10.0mm2 53A
PB - Power (with brake) H 8 way power connector
E* 16.0mm2 70A
X Cut end
F** 2 x 1mm2 Unscreened
PS B A A A 015
Cable Length (Metres):
Jacket: Min - 001 (1 metre)
A - PVC Max - 100 (50m for SL)
B - PUR
Connector Details Drive End:

Drive End
A Unidrive V3 (Size 1-2) Ferrules
* Ring terminals for Drive studs only B Unidrive V3 (Size 3-4) Ring terminals
** PVC only available on DS brake cables C 6 way power extension connector
(75-142 Unimotor male pins)
D MAx and MultiAx Ferrules
E** DS Brake Ferrules
F Unidrive 6 (Size 1-2)/DigitAx Ferrules
G Unidrive 6 (Size 3-4) Ring Terminals
Y 75-95 DS Conversion connector power
Z 115-142 DC Conversion connector power
K Cut end

POWER CABLE EXAMPLES
1 5
PBBXDA
PBBXDA DRIVE END MOTOR END
MAx POWER CABLE WITH BRAKE WIRES.
MAx Power Cable with brake wires PUR Conductor Function Pin 6
`U' Phase U 1
`V V' Phase V 2 2 4
Copper conductor 'Yellow/Green' Earth 3
SIZE 1 (3)
`W W W' Phase W 4
Heat shrink sleeve Black Brake 5
White Brake 6
V
n/a Screen Shell
Drive End Termination + -
55.0
35.0
Identity Label

U W
Unimotors
SIZE 1.5
Connector Assy AS VIEWED FROM FRONT

(Motor End)
60.0 Cable length: min.=2.0 metres, max.=50 metres
2.50 19.0 30.0 Tolerence: -0.0/ + 50 mm
1 5
PSBXAB
PSBXAB PUR Conductor Function Pin
UM POWER 6
UM PowerCABLE WITHOUT
Cable U Phase U 1 U
BRAKE WIRES
without brake wires 2
VV Phase V 2 V 4
Yellow/Green Earth 3 SIZE 1 (3)
WWW Phase W 4 W
N/C 5 +
V
Drive End Termination N/C 6 -
+ -
Green Screen Shell
Identity Label
80+20 -10
U W
SIZE 1.5
Cable length: min.=2.0 metres, max.=100 metres
120+20 -10 Tolerence: -0.0/ + 50 mm Connector Assy
(Motor End) AS VIEWED FROM FRONT

SELECTING SIGNAL CABLES

Cable type Choose the cable type to match the
feedback device.
Special options A is for standard cable. L is for the low cost
8.5mm incremental cable.
Connection detail drive end Select the correct drive end
connection for the drive in use.
Connection detail motor end Select the correct motor end
connection for the motor feedback device in use.
Length Numbers represent the required cable length in
metres. Conversion cables will be limited to 0.4m only and the
Unimotors
Connector Details Motor End:

Motor End
A Unimotor Encoder connector
B Unimotor Resolver connector
C Unimotor SinCos connector (SRS/M50 only)
D SLM 5 way Amphenol connector
E 17 way extension Encoder connector
F 90 Unimotor Encoder connector
Cable Type: G 90 Unimotor Resolver connector
SI - Incremental Encoder H 90 Unimotor SinCos connector
SR - Resolver I DS Resolver connector
SS - SinCos Encoder Special Options J DS Resolver Ferrules
SL - Drive Link (SLM only) A - Standard cable K RJ45 connector
L - 8.5mm diameter SI cable X Cut end
SI B A A A 015
Cable Length (Metres):
Jacket: Min - 001 (1 metre)
B - PUR Max - 100* (50m for SL)
Connector Details Drive End:

Drive End
A Unidrive V3 Encoder 1.5 pin connector
* 100m on incremental only if +5V B Resolver/SinCos Ferrules
tolerance can be maintained C MultiAx to 2.5A 15 pin connector
D MultiAx >2.5A 15 pin connector
E MAx RJ45 connector
F Epilson Encoder 26 pin connector
G 17 way extension Encoder male pins
H Unidrive 6 SinCos 15 pin connector
Z DS Resolver conversion connector
X Cut end

SIGNAL CABLE EXAMPLES
SSIBXAA Incremental Signal Cable (Unidrive 6)

Connector Assembly 1 11
1 2 3 4 5
2 10
12
6 7 8 9 10 3 13 16 9
17
14 15
11 12 13 14 15 Identity Label 4 8
5 7
6
Viewed from front
Drive End Termination Viewed from front
15 pin 'D' type Connector
Cable length: min.=2.0 metres
INCREMENTAL CABLE - SIBAxx, dia 10.9, length 100m max. SIBLxx, dia 8.5mm, length 10m max.

15 WAY `D' Type Connector 17 WAY MOTOR SIGNAL PLUG
Unimotors
Pin Colour Function Pin Colour Function
1 Grey / Pink Band Channel A 1 White Thermistor 0V

2 Red / Blue Band Channel A Inverse 2 Brown Thermistor signal
3 Red (0.34mm2) Channel B 3 Orange Screen
4 Blue (0.34mm2) Channel B Inverse 4 Green S1
5 White / Green Band Index 5 Yellow S1 Inverse
6 Brown / Green Band Index Inverse 6 Grey S2
7 Green S1 7 Pink S2 Inverse
8 Yellow S1 Inverse 8 Black S3
9 Grey S2 9 Purple S3 Inverse
10 Pink S2 Inverse 10 Grey / Pink Band Channel A
11 Black S3 11 White / Green Band Index
12 Purple S3 Inverse 12 Brown / Green Band Index Inverse
13 Red (1mm2) +5V dc 13 Red / Blue Band Channel A Inverse
2
14 Blue (1mm ) + White 0V + Thermistor 14 Red (0.34mm ) Channel B
15 Brown Thermistor signal 15 Blue (0.34mm ) Channel B Inverse
- 16 Red (1.0mm ) +5V dc
- 17 Blue (1.0mm ) 0 Volts
BODY Thermistor screen & overall screen Body Screen Screen
SSBSBC
8 9 1 INTERCONNECTRON 12 WAY
SinCos Signal Cable
7 12 10 2 Pin Colour Function
(Unidrive)
SSBABC
Connector Assembly
SINCOS SIGNAL CABLE (UNIDRIVE) 11 1 RED REF Cos
6 3
2 BLUE + DATEN
5 4
3 VIOLET - DATEN
Note: SSBAHC Sincos cable for Unidrive 6 is
4 ORANGE + Cos
similar but has 15 way D type connector at drive end Identity Label Viewed from front
5 BROWN +Sin
6 BLACK REF Sin
7 YELLOW THERMISTOR
8 GREEN THERMISTOR
9 SCREEN SCREEN
10 BLUE/WHITE 0 VOLTS
Screen
11 - -
12 RED/WHITE + VOLTS
+15 Cable length: min.=2.0 metres

50
-0

Connector Assembly
SSBABH
SSBABH
SinCos Signal
SINCOS Cable
SIGNAL (Unidrive)
CABLE with9090
(UNIDRIVE) WITH Deg
Deg Connector
CONNECTOR
Note: dimension 50mm of wire ends may be

Identity Label
shortened to better accommodate the Unidrive SP
Screen
+15 Cable length: min.=2.0 metres

50
-0
INTERCONNECTRON 12 WAY
Pin Colour Function
1 RED (0.38mm2) REF Cos

2 BLUE (0.38mm2) + DATEN

8 9 1 VIOLET - DATEN
Unimotors
3
4 ORANGE + Cos
7 12 10 2
5 BROWN +Sin
11 3
6 BLACK REF Sin
6
7 YELLOW THERMISTOR
5 4 INTERCONNECTRON 12 WAY
8 GREEN THERMISTOR
9 SCREEN SCREEN
Viewed from front
10 BLUE (0.5mm2) 0 VOLTS
11 - -
2
12 RED (0.5mm ) + VOLTS
SRBxBB
SRBxBB Connector Assembly
RESOLVER Signal
Resolver SIGNAL CABLE
Cable (UNIDRIVE / UNIDRIVE SP) 6)
(Unidrive/Unidrive
8 9 1
Note: dimension 50mm of wire ends may be shortened to
better accommodate the Unidrive SP 7 12 10 2
INTERCONNECTRON 12 WAY Identity Label
11 3
6
5 4
Viewed from front
Screen
50
+15
-0
12 WAY MOTOR SIGNAL PLUG
Pin Colour Function
1 RED EXCITATION HIGH
2 ORANGE EXCITATION LOW
3 BLUE COSINE HIGH
8 9 1 4 VIOLET COSINE LOW
5 BROWN SINE HIGH
7 12 10 2 6 BLACK SINE LOW
7 YELLOW THERMISTOR
11 3 8 GREEN THERMISTOR
6
5 4 9 - -
10 - -
11 - -
Viewed from front
12 - -
Body SCREEN SCREEN

SLM SIGNAL CABLE (M AX)

Tab on underside
SLBAED
SLM Signal
8 Cable (MAx)
7
6
5 Viewed from front
4 8 Connector Assembly
3 7
2 6
1 5 3
4 4
2
3
2
1
Identity Label 1
5

Unimotors
Connection details PUR PVC
RJ45 Amphenol Function Colour Colour
2 1 COMM BROWN ORANGE
1 5 COMM WHITE WHITE/ORANGE
5 3 +24V YELLOW WHITE/GREEN
6 2 0V GREEN GREEN
BODY 4 + BODY SCREEN SCREEN SCREEN
SLBACD
SLM Signal Cable (MultiAx)
Viewed from front
Connector Assembly
1 2 3 4 5 6 7 8 Viewed from front
9 10 11 12 13 14 15
3
Identity Label 4
2
1
5
Connection details PUR PVC

`D' Type Amphenol Function Colour Colour
14 1 COMM BROWN ORANGE

13 5 COMM WHITE WHITE/ORANGE
9 3 +24V YELLOW WHITE/GREEN
10 2 0V GREEN GREEN
15 4 + BODY SCREEN SCREEN SCREEN

LSMV - AC Motors
3-Phase TEFV induction motors LSMV: Guaranteed interchangeability
with standard motors through conformity with the IEC
for variable speed drive systems standard, whilst benefiting from electrical adaptation of the
0.75 to 132 kW basic motor.
LSMV : A product born of experience,
LSMV: A flexible design concept designed to meet technical criteria defined by Leroy-Somer
with a complete range of motors and options in the areas of thermal reserve, watertightness, mechanism
from which to build solutions to exactly match of rotation, concentricity, noise level, modularity and
your application requirements: standardisation. It also benefits from enhanced balancing,
Speed accuracy, safety of rotation: increased thermal reserve, improved efficiency and
Incremental encoder integrated thermal protection. All of these features have
Position control: ISO 9001 certification.
Absolute encoder
Positive safety:
Brake
Operation outside guaranteed speed range:
Forced ventilation
External finish: Noise reduction for improved
Standard, customised
ease of use, achieved by the addition of cast iron end shields
at both drive end and non-drive end.
Reduced maintenance
Higher balancing class :
Limiting the temperature rise increases the total life and
- S, for frame size 132 R, for frame size 160.
performance of the motor.
Powerful dynamics enhanced Maximum operating safety

AC Motors
by the availability of significant torque both at startup and at Protection via 3 PTC sensors
LSMV
all speeds. installed in the motor winding.
Interchangeability
Extended life due to the
The whole LSMV range
choice of balancing and the
conforms fully with IEC
concen-tric design.
standards; the motor can
therefore be exchanged
Energy savings
with any other
Innovative design of the
standard motor.
magnetic circuits has improved
Reinforced mains operation, leading to
mechanical resistance. increased efficiency at the
Use of metal terminal rated speed.
box(es) and fan cover.

AC MOTORS: A SIMPLE AND CLEAR SELECTION GUIDE
Centrifugal
or quadratic Operation with resistive
resistive torque depending on LS motor
torque the speed for f < 50 Hz
applications
General
Operation over a speed
or constant
range of 25 to 50 Hz
resistive LS motor
(1 to 2) in continuous
torque
applications duty (S1)
Operation over a speed

range of 5 to 50 Hz
(1 to 10) in continuous LSMV motor
duty (S1)
Operation over extreme

LSMV motor
speed ranges:
with forced ventilation
< 5 Hz and > 70 Hz
AC Motors
LSMV
Operation:
- from 0 to 50 Hz with
a range of 0 to 5 Hz LSMV motor
in intermittent duty with encoder
- with good precision
of both speed and
torque dynamics
Operation:
- from 0 to 50 Hz with LSMV motor with
a range of 0 to 5 Hz
in continuous duty encoder and forced
- with good precision ventilation
of both speed and
torque dynamics

LSMV - AN ELECTRIC MOTOR RANGE

WHICH OPERATES AT VARIABLE SPEED
WITHOUT DERATING
FIXING
FLANGES OPTIONS GEARBOXES
METHODS
Standard / non-standard
Face mounted (FT) Flange mounted (FF)
COAXIAL
GEARBOXES
2nd Shaft extension CUSTOMISED
MECHANICS
Foot mounted motor
Drip Cover
Helical gears
OPERATION OUTSIDE
SPEED RANGE
Forced ventilation, 230 ou
400V:
Epicyclic gears
Single phase - for frame
Forced Ventilation size 132
Flange mounted 3-phase - for frame size
160 Separate connection
motor (FF) terminal box GEARBOXES
RIGHT ANGLE
BRAKING
Positive safety on stopping:
BK (1.2 TN) or FCO
(1.8 TN) brake for frame
AC Motors
FCO-FCL-FCPL size 132 FCPL (1.8 TN)

LSMV
brake BK brake for frame size 160 Bevel gears

holding brake
SPEED PRECISION
Face mounted
Incremental encoder :
motor (FF) from 1 to 5000
points/revolution, 5V or Worm gears
11/30V Absolute encoder:
Encoder up to 4096 points/4096
revolutions (SSI or RS 485)
Separate metal connection.
PARALLEL
SHAFT
GEARBOXES
THERMAL PROTECTION
PTC equipment in series
PTO for monitoring transient
overloads
Optional equipment:
PTF PTO or PTF, for monitoring
non-transient overloads. Helical gears
Thermal protection

0.75 TO 132 kW LSMV MOTOR MAIN DESIGN CHARACTERISTICS

Frame: Aluminium alloy
Bearings: Cast iron
Protection: IP 55
Insulation: Class F
Voltage: 400V 10%
For relative humidity up to 95%
Terminal boxes: Aluminium
Fan cover: Metal
Bearings: C3 play, LHT lubrication,
DE thrust type, locked in
flange-mounted versions
Balancing:
- Class S: Frame size 80 to 132
- Class R: Frame size 160 to 315
MAINS SUPPLY 400 V - 50 HZ Sensors: PTC in the winding
MOTOR CONNECTION : Y 400 V Paint: System Ia, black RAL9005
Rated Rated Rated Maximum No-load Rated power Moment

power speed torque torque/ current current factor Efficiency of Weight
rated
at 50 Hz torque inertia
Type PN NN MM MN Io IN (400V) Cos J IM B3
kW min -1 MN MN A A % Kg.m2 kg
LS MV 80 L 0.75 1435 4.8 2.9 1.6 2 0.71 75 0.0024 10.8
LS MV 90 SL 1.1 1445 7.1 2.4 1.3 2.5 0.82 79 0.0039 15.3
LS MV 90 L 1.5 1435 9.7 1.9 1.5 3.2 0.84 80 0.0049 17.3
LS MV 100 L 2.2 1440 14 2.8 2.4 4.7 0.84 81 0.0051 22.7
LS MV 100 L 3 1430 19.5 2.4 2.9 6.3 0.84 82 0.0071 25.7
LS MV 112 MG 4 1440 26 2.7 3.8 8 0.86 84 0.015 33.3
AC Motors
LSMV
LS MV 132 SM 5.5 1460 35 2.5 4.1 10.4 0.88 87 0.0334 56.3
LS MV 132 M 7.5 1455 49 2.3 4.7 14 0.89 87 0.035 62.3
LS MV 132 M 9 1460 60 2.6 6.5 16.8 0.88 88 0.0385 65
LS MV 160 MR 11 1460 72 2.5 6.6 20.2 0.88 89 0.069 87
LS MV 160 LU 15 1465 100 3.6 11 28.1 0.85 90.6 0.095 110
LS MV 180 MU 18.5 1465 120 2.6 11 32.9 0.89 91.2 0.147 165
LS MV 180 LU 22 1465 144 2.8 15.4 40.8 0.86 90.6 0.147 165
LS MV 200 L 30 1475 195 2.9 22.2 55.1 0.85 92.4 0.23 190
LS MV 225 SR 37 1475 235 2.8 24.6 66.8 0.86 93 0.28 235
LS MV 225 MK 45 1480 293 3 31.6 83 0.84 93.1 0.75 325
LS MV 250 MP 55 1480 356 3 45 104 0.82 92.7 0.79 355
LS MV 280 SP 75 1480 475 3.3 59.3 138 0.83 94.5 1.45 490
LS MV 280 MK 90 1490 577 3.1 64 164 0.84 94.3 2.54 690
LS MV 315 SP 110 1485 707 3.5 79.2 201 0.83 95 2.95 785
LS MV 315 MR 132 1485 845 3.1 89.5 232 0.86 96 3.37 855
For different no. of poles or voltage consult local Drive Centre
ORDER CODE
4P IM 1001
LSMV 180 MU 18.5kW 400 V 50 Hz IP 55
1500 min-1 (IM B3)
No of poles Range Frame size Frame Mounting Supply Mains Degree of

Rated
arrangements protection
Speed(s) identification IEC 72 type power voltage frequency
IEC 34-7 IEC 34-5

Forced ventilation:
LSK D.C. Motor multiposition
Shaft and bearings with high Compact design with high multivoltage - multifrequency
overload capacity (for belts transmission). power / weight ratio. ensures good thermal reserve
Roller bearings may be used in the drive Removable sound screen in option
end shield for very high radial loads. lifting rings. Large number of possible options.
Marking on shaft extension Brush holders fitted in option
indicating the balancing class. with wear limit microswitches.
Cast iron brackets.
Easy brush access via 4 large
inspection doors.
Transparent inspection doors
in option.
Machined registers for PTC probes connected in

high precision geometry. series provide added
protection against incorrect use.
Large size multiposition terminal box.
LSK RANGE Rated power

Selection chart for 460V armature voltage
kW
LSK 3554C
560 LSK 2804C
540
520
500
480
460
440
420
400 LSK 2504C
380
360
340
LSK 2254
320
300
280
260
240
220 LSK 2004
200
180 LSK 1804 & 1804 C
160
140 LSK 1604
120
100
LSK 1324
80
D.C. Motor
60
LSK
40 LSK 1124
20
LSK 1122
500 1000 1500 2000 2500 3000 3500 min -1
Speed
LSK motor capabilities (in accordance with standard

IEC 34.1) are achieved with: IC 06 cooling (forced ventilation)
Full bridge three-phase power supply S1 continuous duty
IP 23 protection Ambient temperature 40C
Class H insulation system
DIMENSIONS
E LB AD
T LA
n x flS / flM
HD

MO x Z
D
F
N j6
HA
H
GA
A
C B
AB LSK 2254
BB 4x fl K to 3554
HJ
Motor Main dimensions Shaft Standard flange

type A AB AD B BB C H HA HD HJ K LB D E F GA O Z LA M N n S T
LSK 1122 S 190 220 220 354 378 70 112 10 472 202 12 520 38 k6 80 10 41 12 28 20 265 230 4 14 4
LSK 1122 L 190 220 220 410 434 70 112 10 472 202 12 576 38 k6 80 10 41 12 28 20 265 230 4 14 4
LSK 1122 VL 190 220 220 470 494 70 112 10 472 202 12 636 38 k6 80 10 41 12 28 20 265 230 4 14 4
LSK 1124 M 190 220 220 380 404 70 112 10 472 202 12 546 38 k6 80 10 41 12 28 20 265 230 4 14 4
LSK 1124 L 190 220 220 450 474 70 112 10 472 202 12 616 38 k6 80 10 41 12 28 20 265 230 4 14 4
LSK 1124 VL 190 220 220 520 544 70 112 10 472 202 12 686 38 k6 80 10 41 12 28 20 265 230 4 14 4
LSK 1324 S 216 245 260 432 462 89 132 12 552 248 12 590 48 k6 110 14 51.5 16 36 22 300 250 4 18 5
LSK 1324 M 216 245 260 482 512 89 132 12 552 248 12 640 48 k6 110 14 51.5 16 36 22 300 250 4 18 5
LSK 1324 VL 216 245 260 582 612 89 132 12 552 248 12 740 48 k6 110 14 51.5 16 36 22 300 250 4 18 5
LSK 1324 XVL 216 245 260 652 682 89 132 12 552 248 12 810 48 k6 110 14 51.5 16 36 22 300 250 4 18 5
LSK 1604 S 254 300 318 425 469 103 160 15 678 313 14 750 55 m6 110 16 59 20 42 24 350 300 4 18 5
LSK 1604 M 254 300 318 505 549 103 160 15 678 313 14 830 55 m6 110 16 59 20 42 24 350 300 4 18 5
LSK 1604 L 254 300 318 565 609 103 160 15 678 313 14 890 55 m6 110 16 59 20 42 24 350 300 4 18 5
LSK 1604 VL 254 300 318 665 709 103 160 15 678 313 14 990 55 m6 110 16 59 20 42 24 350 300 4 18 5
LSK 1804 M 279 356 318 653 738 121 180 15 735 317 14 889 60 m6 140 18 64 20 42 20 350 300 4 18 5
LSK 1804 L 279 356 318 698 783 121 180 15 735 317 14 934 60 m6 140 18 64 20 42 20 350 300 4 18 5
LSK 1804 VL 279 356 356 883 968 121 180 15 760 317 14 1099 60 m6 140 18 64 20 42 20 350 300 4 18 5
LSK 1804C M 279 356 318 653 738 121 180 15 735 317 14 889 60 m6 140 18 64 20 42 20 350 300 4 18 5
LSK 1804C L 279 356 318 698 783 121 180 15 735 317 14 934 60 m6 140 18 64 20 42 20 350 300 4 18 5
LSK 2004 M 318 396 495 737 830 133 200 18 921 335 18 1000 65 m6 140 18 69 20 42 20 400 350 4 18 5
LSK 2004 L 318 396 495 802 895 133 200 18 921 335 18 1065 65 m6 140 18 69 20 42 20 400 350 4 18 5
LSK 2254 M 356 445 548 793.5 888 149 225 21 993 360 18 1090 80 m6 170 22 85 20 36 31 400 350 8 18 5
LSK 2254 L 356 445 548 863.5 958 149 225 21 993 360 18 1160 80 m6 170 22 85 20 36 31 400 350 8 18 5
LSK 2254 VL 356 445 548 913.5 1008 149 225 21 993 360 18 1210 80 m6 170 22 85 20 36 31 400 350 8 18 5
LSK 2504C M 406 494 600 1018 1216 168 250 22 1180 495 22 1360 100 m6 170 28 106 24 50 35 400 350 8 18 5
D.C. Motor Dimensions
LSK 2504C L 406 494 600 1078 1276 168 250 22 1180 495 22 1420 100 m6 170 28 106 24 50 35 400 350 8 18 5
LSK 2804C SM 457 550 655 1106 1248 190 280 29 1300 530 22 1477 110 m6 170 28 116 24 50 46 500 450 8 26 6
LSK 2804C M 457 550 655 1106 1315 190 280 29 1300 530 22 1544 110 m6 170 28 116 24 50 46 500 450 8 26 6
LSK
LSK 2804C SL 457 550 655 1216 1358 190 280 29 1300 530 22 1587 110 m6 170 28 116 24 50 46 500 450 8 26 6
LSK 2804C L 457 550 655 1216 1425 190 280 29 1300 530 22 1654 110 m6 170 28 116 24 50 46 500 450 8 26 6
LSK 3554C VS 610 700 705 700 1536 254 355 22.5 1521 680 27 1580 125 m6 210 32 132 24 50 28 940 880 8 25 6
LSK 3554C S 610 700 705 800 1636 254 355 22.5 1521 680 27 1680 125 m6 210 32 132 24 50 28 940 880 8 25 6
LSK 3554C M 610 700 705 850 1686 254 355 22.5 1521 680 27 1730 125 m6 210 32 132 24 50 28 940 880 8 25 6
LSK 3554C L 610 700 705 950 1786 254 355 22.5 1521 680 27 1830 125 m6 210 32 132 24 50 28 940 880 8 25 6
LSK 3554C VL 610 700 705 1100 1936 254 355 22.5 1521 680 27 1980 125 m6 210 32 132 24 50 28 940 880 8 25 6

ADAPTATIONS
Mentor II DC Drives
Electromechanical 4
Gearboxes
1 quadrant 4 quadrants
1
3
Cb 2000
parallel or
concentric axes
In-line box 7 2 5
Options
Option
6
Ot 2000
9
with helical bevel gears
Right-angled box Option Options
Options :
- D.C. tachometer - Sound screen - Universal mounting for connection to
- Encoder - Heat air or water exchanger (IP 55) gearbox
- Air flow detector - Axial forced ventilation fan - B5 circular flange
- Air filter - No current brake - Second drive shaft
LSK motor applications:

Processing of rubber and plastics
Wire drawing, cable making
Iron and steel industry, metallurgy, presses

D.C. Motor Adaptions
Paper and card manufacture, printing

Container cranes
LSK
Mechanical hoist
Variable flow pump and fan
Sugar industry

D.C. Motor Adaptions

LSK

Linear Permanent Cut and roll open...
Magnet Motors
Overview; Applications
Linear Motors
OVERVIEW
Linear motors have been around as long as any other kind of
electric motor, and have had their supporters and detractors
over the years for a wide range of linear applications, from rams
and material movement to luggage handling and funfair rides.
Historically, linear motors have been very successful in
the semi-conductor manufacturing industry and now
their suppliers are making forays into many other
markets, with increasing success.The main barrier to
their growth has been initial cost, which is generally Permanent Magnet Linear Motor
higher than the traditional servomotors.
Coils
Unidrive 6 has been applied successfully with a
wide range of linear motor types, from a diverse
Permanent
range of suppliers. Contact your local Drive Centre pitch
for help in applying Unidrive 6 with linear motors.
APPLICATIONS
In application areas, which have undergone strong growth, linear
motors are increasingly being seen as possible replacements for
traditional linear solutions, a typical example being mechanical
cams, which give a pre-determined linear stroke. A rotary motor opened up and laid out flat
Typical applications include: The same electromagnetic force that produces torque in a
rotary motor also produces direct force in a linear motor.
Semiconductor processing Materials handling A permanent magnet linear motor is similar to a permanent
Packaging machines Glass processing magnet rotary motor.Take a rotary motor, split it radially along
Laser Cutting PCB drilling its axis of rotation and flatten it out.The result is a flat linear
Pick and Place Transfer machines motor that produces direct linear force instead of torque.
Flying Shears Transport systems Why? Torque is force at a radial distance measured in
Extrusion pullers Robotic Newton metres. Removing the distance (axis of rotation)
and many more. leaves direct linear force measured in Newtons. It follows
that linear motors utilise the same controls as rotary motors.
COMPARISON OF LINEAR
And similar to a rotary motor with rotary encoders, linear
AND ROTARY MOTORS
motor positioning is provided by a linear encoder.
Brushless Permanent Magnet Motor
Coils
Permanent
magnets

Linear Motors suitable for Unidrive 6

LINEAR MOTORS SUITABLE FOR Ironless Core Synchronous Linear Motor
UNIDRIVE 6
Magnetic plates North South
There are three main types of permanent magnet linear motors: (U-shape inside view) poles poles
Linear Motors
Flat - iron core Coils in non-
magnetic carrier
U-shaped, ironless core Permanent
U V W
Tubular magnets
Iron Core Synchronous Linear Motor Pole pitch Linear movement
Coils Linear movement

In this type, the distance between the two opposing magnets
Iron core two air gaps plus the coil thickness forms the resistance of
Permanent
magnets the magnet flux path.This is a high resistance causing a low
U V W
magnetic flux.
Therefore this type of motor is characterised by:
Moderate peak force density
North South Low continuous force density
Pole pitch Magnet plate poles poles
More heat dissipation compared to the iron core
Because the coil section contains no magnetic material, the
This type of motor has a low magnetic resistance path.The flux
slide has no attraction force so there is no cogging when the
path has the iron core and the magnet plate as excellent flux
slide is pushed down the magnet plate while the motor is de
conductors and the resistance in the circuit are the magnets and
energised.The only force generated is the thrust force.
a single air gap. Due to this low resistance, this motor shows a
Since the linear motor has a high magnetic resistance, the
strong flux yielding high forces and has very good efficiency.
coil inductance is relatively low allowing high rates of
The benefits of this type of motor are:
change in current for quick movements and very quick
High peak force density responses to external forces. Because of this ability, the motor
High continuous force density requires a responsive controller and servo drive for obtaining
accurate control.
Relatively low heat dissipation
This motor type exhibits an attraction force of roughly two to These characteristics mean that this motor is very dynamic
three times the maximum thrust force.This attraction force and achieves very short settling times and high speeds.
has to be carried by load bearings, which have to maintain a A disadvantage of this type is that it requires a double row of
constant air gap between coil unit and magnet plate. magnets making the magnet yokes rather expensive compared
A second effect of the iron core is cogging.The iron core will to the iron core types.
always have preferred positions on the magnet plate, with Linear speeds in excess of 15 m/s can be achieved with this
respect to the magnets, because the iron in the slide is type of motor.
attracted to the magnets. Careful design of the coil unit can
reduce the cogging effect. Cogging is generally not a problem
for most applications because it is compensated by the
velocity loop on the drive.
Because of the high flux, the motor (coil unit) is highly
inductive.This is useful for smoothing the current that the
servo drive sees but requires a high voltage on the drive
output to compensate for the long time constant of the coils
for very sudden force changes.
Linear speeds in excess of 10 m/s can be achieved with this
type of motor.

Tubular Linear Motor UNIDRIVE 6 CONFIGURATION

Unidrive 6 Configuration Parameters
PARAMETERS
Thrust Block /forcer
Linear Motors
Coils Motor Power Connections

The coil unit power connections consist of the UVW windings
Flux and the safety Earth.The coils tend to be wound for either
400 Vrms (560VDC bus) or 220 Vrms (300 VDC bus), both
Heat are three phase.
Dissipition
Thrust Rod
Coil Unit
The tubular linear motor makes optimal use of the magnetic
flux. All of the coils cut all of the flux at right angles to produce
a pure linear thrust. A large air gap is possible and the
symmetrical design is unaffected by misalignment.
The tubular linear motor has good thermal efficiency,
radiating heat uniformly and has high duty cycle capability
without the need for additional cooling. One point of interest
is that iron-core motors of similar peak force rating have U
V
higher continuous force ratings. W
E
This simple arrangement comprises a tubular thrust rod and a
PTC
moving forcer carrying circular coils. It is simple and easy to
use. Unlike iron-cored linear motor types, there are:
No precision air gaps. Feedback Types And Limitations

No precision alignment.
Most linear motor manufacturers tend to fit either linear
No attractive forces. quadrature incremental encoders or linear SinCos incremental
Their benefits are:
encoders, with or without commutation signals. Other
Low motor time constant common types of linear encoders are absolute.These
Ripple free force encoders tend to be EnDat, Hiperface or SSI. One benefit
over incremental is that the servo drive does not need to
Smooth, virtually perfect linear thrust/current response perform an auto tune on power up but there is a drawback as
along length of travel
absolute encoders cost more.
High duty cycle capability
One of the characteristics of linear motors is their ability
Industrially rugged product due to simple sealed design of to operate with a high level of dynamic performance.
armature and stator
Current technologies allow motors to run at over 20 m/s
Linear speeds in excess of 20 m/s and acceleration rates over
and have acceleration rates in excess of 1000 m/s2. Careful
1100 m/s2 can be achieved with this type of motor.
consideration is required when selecting the type of feedback
device to be used. Currently, Unidrive 6 has an input
frequency limitation of 500kHz for quadrature pulses input and
500 kHz for SinCos cycles input with reduced interpolation
resolution. It is common for linear encoder scales to have
20-micron or 40-micron graduations. If we apply the drive
input frequency limitation to the 20-micron scale, we would
get a maximum speed of 8.2 m/s, this figure doubles to
16.4 m/s if the 40-micron scale is used.

Autotune This mode of auto tuning would be used when the feedback
encoder provides no commutation information and where it is
Generally, linear motors are mounted in a horizontal position
a critical requirement that there is no or minimum motor
where gravity has no or little effect so running phase offset
Linear Motors
movement. Would need to be executed every time the drive
tests are no problem. Where linear motors are mounted
Auto Tune
is powered up.The minimal movement phase test is
vertically or where gravity has a large effect on the coil unit
configurable with three options available:
then problems can arise while running phase offset tests, this is
because Unidrive 6 can not control the movement of the 1. #05.12=5 Runs phase routine only once.
coil unit until correct alignment of motor flux is achieved. If 2. #05.14=Ph.EnL Runs phase routine on every ENABLE
excessive movement is detected during the flux alignment
routine the drive will fail to complete the routine and trip. 3. #05.14=Ph.InIt Runs phase routine on first ENABLE
Let us consider a linear motor that is on an incline, if the coil Absolute encoder
unit is suspended in mid-stroke and only held in place by Auto tuning with absolute encoders need only to be
cogging torque or friction. It is possible that executing a flux performed once at the commissioning stage of the linear
alignment test could kick-start the coil unit down the incline in motor. Any of the auto tune routines discussed in the
an uncontrolled manner.To prevent this from happening you incremental encoder section could be used. Once the auto
must either use and absolute encoder or an incremental tune routine is complete the phase-offset angle is stored in the
encoder with commutation signals and consider having a drives encoder offset parameter. No subsequent auto tune is
brake fitted to the coil unit. needed when the drive is powered up.
Incremental Encoders No Commutation Signals Unidrive 6 communicates to the encoder to find out the
Standard Phasing Test absolute position of the linear motor coil unit and the stored
encoder offset value. Knowing this information the drive
The standard phasing test moves the motor by 2 electrical
can determine the correct field orientation to applied to the
cycles, which would equate to a displacement of 2 motor pole
coil unit windings.
pitches. Direction of auto tune would depend on the setting
of the auto tune direction bit.This mode of auto tuning
would be used when the feedback encoder provides no For further information on linear motors
commutation information and motor movement is not an please contact your nearest Control Techniques
issue. Would need to be executed every time the drive is Drive Centre.
powered up.The standard phasing test is executed by
setting parameter #05.12=3.
Minimum Movement Phasing Test
The Minimum Movement phasing test energises the motor
windings to force movement in the coil unit over the magnet
plate.The drive detects the direction of the coil unit
movement then re-aligns the field orientation in the motor
windings until the coil unit movement changes direction.
When the direction changes, the drive re-aligns the field
orientation in the motor windings until the coil unit reverses
direction again.This process is repeated until the encoder
feedback is in phase with the field orientation in the motor
windings. At this point the motor is correctly commutated, it
also knows the number of pulses/lines per pole pitch of
the motor.The whole phasing test is done with a maximum
+/-5 degrees of movement in an electrical cycle.

Drive, Servo, and

Application Training
at Control Techniques
At Control Techniques you will find a group of
engineers dedicated to passing on all the information
needed for you and your staff to get the most out of
variable speed drives, servos or more complex
motion control components.
Training your engineers
Control Techniques has built its reputation designing world

Control Techniques
class drives and solutions for all industrial applications.

From simple stand alone drives to the most complex
control solution we can make certain that you have all the
Training
knowledge available to make the correct decisions for your

own application
We recognise that engineers may be at different levels of

familiarity with modern drive technology and are always
happy to tailor training courses to best suit the delegates.
From practical hands-on to classroom theory we will
ensure that you finish your course with the knowledge Global Training HQ in Newtown, UK
the take away notes and worked examples to become
drive experts of the future
Local training in local language
Time is always a constraint and we recognise this by Product experts who can mix classroom learning with
offering shift pattern flexibility to ensure that you can practical hands on examples
get the maximum training value from any particular
course just contact our trainers today to discuss Calm focussed learning environment
what suits you best Shift pattern adopted to suit
The St Giles facility in Newtown, UK offers the best On site or at our own premises you decide
possible mix of classroom learning with work benches in
the same room enabling delegates to break off from theory
to practical hands on and back to the classroom in a Training done at all levels from apprentice engineer
seamless learning cycle. Any questions can be quickly to experienced motion control experts
answered and backed up with visible worked solutions
Bespoke training courses to suit you
If you feel you need a particular course tailoring to your specific following consultation
application or circumstances then call us here or at your
nearest Drive Centre to discuss the training solution you need.
Comprehensive course documentation and
worked examples
Qualified training on the best control solution components
ensures your engineers know how to get the most out of
your equipment.

Course Schedule at St Giles, Newtown, UK
Course Title Duration Frequency Brief Description

(Days)
Unidrive 6 3 Monthly Solutions Platform AC drive
Unidrive 3 Monthly Solutions Platform AC drive
MD29. UD70,
3 Monthly Software & Application programming
SM-Applications ( )
CTNet Highspeed 1 Every other month High speed communications
communications
Commander SK 1 Monthly Simple & Easy AC drive
Commander SE 1 Monthly Simple & Easy AC drive
Commander SX 1 Monthly Simple and Easy AC drive (IP66)
Control Techniques
Commander GP 1 Every other month Simple and Easy AC drive
Introduction to Servos 1 Every other month First steps in servo applications
Training
Servo Drives and Systems 3 Monthly Advanced application & sizing of servos
MC Motion Controller &
3 Monthly High Precision Motion control
Max Servo Drive & MultiAx
E-Series Drive 3 Quarterly Easy to program AC servos
Mentor II 2 Monthly Solutions Platform DC drive
Motion Control with
3 Every other month High Precision Motion control
CT Drives
Winder application Standard winder solutions for
2 Every other month
solution software Solutions Platform drives
Flying Shear application 1 Standard Flying Shear Solutions

Every other month
solution software for Solutions Platform drives
Fan & Pump duty assist application 1 Standard Fan & Pump Duty Assist Solutions
solution software Every other month
for Solutions Platform drives
AC Drives Maintenance 1 Quarterly AC Drive Maintenance
DC Drives Maintenance 1 Quarterly DC Drive Maintenance

Symbols and Formulae Time-related

Symbol Quantity Unit Symbol Unit name
- SI UNITS AND SYMBOLS t time s second
SI Base Units time constant s second
u,v velocity ms-1 metre per second
Quantity Unit Symbol Unit Name
a acceleration ms-2 metre per second
Length m metre per second
Mass kg kilogram
angular velocity rad s-1 radian per second
Time s second
angular rad s-2 radian per second
Electric current A Ampere acceleration per second
Temperature K Kelvin f frequency Hz Hertz
Luminous intensity cd candela n rotational s-1 (revolution) per
frequency second
Decimal Multiples and Sub-multiples
Factor Prefix Symbol Mechanical
1012 tera T Symbol Quantity Unit Symbol Unit name
109 giga G m mass kg kilogram
106 mega M F force N Newton
103 kilo k G (W) weight N Newton
102 hecto h J moment of kgm2 kilogram metre
inertia squared
10 deca da
M (T) torque kgm kilogram metre
10-1 deci d
W (E) work (energy) J Joule
10-2 centi c
P power W Watt
10-3 milli m
p pressure Pa Pascal
10-6 micro
Symbols and Formulae
modulus of
10-9 nano n E Pa Pascal
SI Units and Symbols
elasticity
10-12 pico p
stress Pa Pascal
10-15 femto f
kilogram per
10-18 atto a density kgm-3 cubic metre
metre per

x rate of flow m3s -1 cubic second
DERIVED UNITS
Geometrical k,k1, etc any constant
factor
Symbol Quantity Symbol Unit Name
l,s length, distance m metre
A area m2 square metre
V volume m3 cubic metre
,, etc plane angle rad radian
degree
,, etc solid angle steradian

- PROTECTIVE ENCLOSURES -
IP AND NEMA
Protective Enclosures - Non-hazardous Areas
IP Protection
IP Protection is a European system of classification which is widely
accepted internationally, and indicates the degree of protection against
the ingress of solid objects, dust, liquids and personal contact.
The first numeral indicates the degree of protection against the ingress
of solid objects (including parts of the body) and dust.The second
numeral indicates the degree of protection against the ingress of water.
IP Enclosure - First Numeral

1st Degree of Protection
Numeral Short Description Definition
0 Non-protected No special protection
1 Protected against solid objects A large surface of the body, such as a hand (but
greater than 50mm no protection against deliberate access). Solid
objects exceeding 50mm in diameter.
2 Protected against solid objects Fingers or similar objects not exceeding 80mm in
greater than 12mm length. Solid objects exceeding 12mm in diameter.
3 Protected against solid objects Tools, wires, etc. of diameter or thickness greater
greater than 2.5mm than 2.5mm. Solid objects exceeding 2.5mm in diameter.
4 Protected against solid objects Wires, or strips of thickness greater than 1.0mm.
greater than 1.0mm Solid objects exceeding 1.0mm in diameter.
5 Dust-protected Ingress of dust is not totally prevented but does
not enter in sufficient quantity to interfere with

satisfactory operation of the equipment.
Protective Enclosures
6 Dust-tight No ingress of dust.
IP Enclosure - Second Numeral

2nd Degree of Protection
Numeral Short Description Definition
0 Non-protected No special protection
1 Protected against dripping water Dripping water (vertically falling drops) shall have
no harmful effect.
2 Protected against dripping water Vertically dripping water shall have no harmful effect
when tilted up to 15 when the enclosure is tilted at any angle up to 15
from its normal position.
3 Protected against spraying water Water falling as a spray at an angle up to 60 from
the vertical shall have no harmful effect.
4 Protected against splashing water Water sprayed against the enclosure from any
direction shall have no harmful effect.
5 Protected against water jets Water projected by a nozzle against the enclosure
from any direction shall have no harmful effect.
6 Projected against heavy seas Water from heavy seas or water projected in powerful
jets shall not enter the enclosure in harmful quantities.
7 Protected against the effects of immersion Ingress of water in a harmful quantity shall not be
possible when the enclosure is immersed in water
under defined conditions of pressure and time.

NEMA and UL Standards

The North American Electrical Manufacturers Association
(NEMA) and Underwriters Laboratories Inc. (UL) enclosure
standards designate by means of a type number the Conversion of NEMA Type Numbers to IEC
environmental conditions for which an enclosure is suitable. Classification Designations
A particular enclosure may have more than one type number. Not to be used to convert IEC Classifications Designations to
The table below summarises the type designations of NEMA Numbers
NEMA 250; the designators specified by UL50 and UL508 are NEMA Enclosure IEC Enclosure
substantially the same, with differences of detail only in the Type Number Classification Designation
description; for further information, reference should be made 1 IP10
to the standard specification. 2 IP11
3 IP54
NEMA Standards 250 1.109. 1979
3R IP14
Type 3S IP54
Designation Intended Use and Description
4 and 4X IP56
1 Enclosure intended for indoor use primarily
5 IP52
to provide a degree of protection against
contact with the enclosed equipment. 6 and 6P IP 67
2 Enclosure intended for indoor use primarily 12 and 12K IP 52
to provide a degree of protection against 13 IP54
limited amounts of falling water and dirt. Note:This comparison is based on tests specified in IEC Publication 529; 1976.
3 Enclosure intended for outdoor use primarily

windblown dust, rain, sleet and external
ice formation.
3R Enclosure intended for outdoor use primarily

Protective Enclosures
falling rain, sleet and external ice formation.

4 Enclosure intended for indoor or outdoor
use primarily to provide a degree of
protection against windblown dust and rain,
splashing water and hose-directed water.
4X Enclosure intended for indoor or outdoor
use primarily to provide a degree of
protection against corrosion, windblown
dust and rain, splashing water and
hose-directed water.
12 Enclosure intended for indoor use primarily to
provide a degree of protection against dust,
falling dirt and dripping non-corrosive liquid.
13 Enclosure intended for outdoor use primarily
dust, spraying water, oil and non-corrosive
liquid.

ELECTRICAL FORMULAE AC Single-Phase

All quantities r.m.s values:
Electrical Quantities
Quantity Symbol Unit Symbol Unit name V=I Z
Electromotive force E, e* Volt V Total or apparent power in VA = Vl = I 2Z = V 2 Z
Potential difference V, v* Volt V Active power in watts, W =Vl cos
Current I, i* Ampere A Reactive power in VAr = Vl sin
Magnetic flux Weber Weber
Frequency f Hertz Hz Three-Phase Induction Motors
Flux linkage Weber-turns - All quantities rms values:
Resistance R Ohm kWmech = horsepower x 0.746
Inductance L Henry H kWelec = 3 Vl Il cos at rated speed and load
Capacitance C Farad F where Vl = supply voltage Il = rated full load current
Impedance Z Ohm cos = rated full load power factor
Reactance X Ohm
Power,dc,or active P Watt Efficiency, = (kWmech kWelec) x 100 per cent
Power, reactive Q Volt-ampere VAr, var
reactive Phase current Ip = Il for star connection
Power, total or apparent S Volt-ampere VA Ip = Il 3 for delta connection
Power factor angle - , deg.
Angular velocity Radians per rad s-1 Loads (phase values)
second
Resistance R, measured in Ohms (no energy storage)
Rotational velocity n Revolutions s-1 ,rev s-1
Inductive reactance, XL = L = 2 f L Ohms (stores energy)
per second
Where f = frequency (Hz), L = Inductance (H)
Revolutions min-1, rpm
per minute Capacitative reactance, XC = 1/(C) = 1/(2 f C)

Efficiency - Where f = frequency (Hz), C = Capacitance (F)
Electrical Formulae
Number of pairs
of poles p -
Impedance
Impedance is the algebraic sum of the separate load values
* Capital and small letters designate rms and instantaneous thus:
value respectively. Z = (R2 + XL2) or (R2 + XC2)
AC 3-Phase If R, XL and XC are present in series in the same circuit then
(Assuming Balanced Symmetrical Waveform) XL and XC may be summated, treating XC as negative, thus
All quantities r.m.s values: Z = (R2 + (XL - XC)2)
Vl = Line-to-line voltage
Vp = Phase voltage (line-to-neutral)
Il = line current (star)
Ip = Phase current (delta)
In a STAR connected circuit, Vp = Vl 3, Vl =3Vp, Il = Ip
In a DELTA connected circuit: Ip = Il 3, Il =3Ip, Vl = Vp
Total of apparent power in VA = 3 Vl Il
Active power in watts, W = 3 Vl Il cos
Reactive power in VAr = 3 Vl Il sin
Power factor (pf) = cos
= Active power / Apparent power
= W / VAr

MECHANICAL FORMULAE Linear Motion
Term Description Unit

d Diameter m
m F
F Force N
g Acceleration due to gravity ms-2
J Total inertia kgm2 Fig A
JL Load inertia kgm2
Consider a body mass m acted upon by a single force F, Fig A.
JM Motor inertia kgm2
The body accelerates in the direction in which the force is
m Mass kg
acting, at a rate given by:
M Motor torque Nm
A = F/m
Ma Accelerating torque Nm
After a time t has elapsed, the body has achieved a velocity v,
ML Load torque Nm
where:
n Rotational frequency rpm*
n1 - input rpm* v = u + at
n2 - output rpm* (u is the initial velocity, before the force F was applied. If the
n Change of rotational frequency rpm* body was initially at rest, u is zero)
p Pitch m The distance, s, travelled by the body during time t is
2
P Motor power kW s = ut + at 2
Pa Accelerating power kW Distance and velocity are related by the following equation,
PL Load power absorbed kW derived from the two previous ones:
r Radius m
v2 u2 = 2as
s Distance m
The work done by the force in accelerating the body is the
t Acceleration time s
product of force and distance:
t Acceleration period s
W = Fs
v Linear velocity m/min*

v The kinetic energy of the body, ie the energy which it
Mechanical Formulae
Change of linear velocity m/min*

V Traction capacity M3s-1 possesses by virtue of its motion, is the product of its mass
W Energy J (Joule) and the square of its velocity:
Efficiency - Ek = mv 2 2
Coefficient of friction - Furthermore, since energy is conserved, the work done by the
force is equal to the change in the bodys kinetic energy
Note (neglecting losses):
For practical convenience, some of the units in the formulae W = m(v 2 u2) 2
following are not S1 units; for example, rotational frequency is
Power is the rate at which work is done, therefore it is the
commonly measured in revolutions per minute, although the
product of force and velocity:
S1 unit is revolutions per second. In these Servo Formulae,
the terms used are as tabulated above.Those which are in P = Fv
non-S1 units are marked *.

Rotational or Angular Motion Angle and angular velocity are related by the following
M=Fr equation:
2 - o2 = 2
r Fig A.11
The work done in accelerating the body is the product of
The concept
M torque and angle of rotation:
of torque
W = M
A force acting perpendicular to a pivoted lever, Fig A.11, causes The kinetic energy of the body is the product of its moment
a turning effect or torque at the fulcrum.The torque is the of inertia and the square of its angular velocity:
product of the force and the radius at which it is applied. Ek = J2 2
M = Fr Since energy is conserved, the work done is equal to the
A force acting perpendicular to a pivoted lever, Fig A.11, causes change in kinetic energy (neglecting losses):
a turning effect or torque at the fulcrum.The torque is the W = J(2 - o2) 2
product of the force and the radius at which it is applied.
Power is the product of torque and angular velocity, i.e. the
M = Fr rate at which work is being done:
If a torque is applied to a body which is free to rotate, as in P = M
Fig A.12, an acceleration results in a way which is analogous to
the example of linear motion above. Indeed a similarity will be Relationship between linear and angular motion
noticed between the equations of motion. Consider a body of mass m moving in a circle of radius r with
Any body which is capable of rotating possesses a property an angular velocity , Fig A.13.
known as Moment of Inertia which tends to resist acceleration When the body has rotated through an angle , it has covered
in the same way as does the mass of a body in linear motion. a distance s along circumference of the circle, where:
The moment of inertia is related not only to the mass of the
m
body, but also to the distribution of that mass with respect v
to radius.
s
The moment of inertia of a solid cylinder of radius r is given by: r

J = mr 2 2 Fig A.13
Mechanical Formulae
Relationship
By comparison, the moment of inertia of a hollow cylinder, of
between linear and
inner and outer radii respectively, is as follows:
angular motion
J = m(ro2 - r 2i ) 2
It can be seen that, for a given outer radius, the moment of
inertia of a hollow cylinder is greater than that of a solid Similarly, the tangential velocity or peripheral speed v, being the
cylinder of the same mass. In Fig A.12, a body having a quotient of distance and time, is given by:
moment of inertia J is acted upon by a torque M. Its angular v = s/t = r/t
acceleration is:
= M/J Angular velocity w is the quotient of angle and time;
Fig A.12 w = /t

The Action of Therefore
torque on a body v = wr
J Similarly, for acceleration:
M
a = v/t = wr/t
After a time t has elapsed, the angular velocity, (rate of
change of angle) is given by: =w
= o + t Therefore
(wo is the initial angular velocity, before the torque M was a = r
applied. If the body was initially at rest, o is zero) The moment of inertia is given by
The angle, g, through which the body rotates in time t is: J = mr2
= ot + t2/2

The Effect of Gearing INERTIA

When calculating the torque required to accelerate or Moment of
decelerate the moving parts of a machine, it is necessary to Body Axis
Inertia(J)
take into account any gearing which introduces a ratio
between the speeds of different parts. It is unusual to calculate
the moment of inertia referred to the motor shaft, since this
Uniform rod
figure may be added arithmetically to the motor inertia to
(length I)
arrive at a figure for the total inertia of the system. Fig A.14
illustrates a motor, having a moment of inertia J1, driving a load
with inertia J2, via a gearbox.
If the gearbox has a ratio k, then the relationship between
input and output angular velocities is as follows: Polar
1 = k2
Neglecting losses, the input and output torques are Uniform hoop
related thus: (radius r,
M1 = M2/k diameter d) diameter
The load inertia reflected back through the gearbox to the
motor shaft is reduced by a factor equal to the square of the
gear ratio.Therefore the total inertia which the motor has to
overcome is given by:
J = J1 + J2 k2
MOTOR GEARBOX LOAD Polar

M1 M2
J1 J2 Uniform
1 2 thin disk
(radius r, diameter
Fig A.14 The effect of gearing between motor and load diameter d)
Inertia
Rectangular
d
Plate centre
h
Triangular centre
Plate
h/3

Properties of Common Materials

Moment of Name Kg m3
Body Axis
Inertia(J) Aluminium 2,710
axis Aluminium, strong alloy 2,800
Brass (70Cu/30Zn) 8,500
Bronze(90Cu/10Sn) 8,800
Iron, pure 7,870
Solid circular
Iron, cast grey 7,150
cylinder
Iron, cast white 7,700
(radius r)
Iron, wrought 7,850
Lead 11,340
centre
Nylon 1,150
Stainless steel (18cr/8Ni) 7,930
axis Steel, mild 7,860
Steel, piano wire 7,800
Tin 7,300
Titanium 4,540
Cylindical Wood, Spruce 600
shell Zinc 7,140
(no ends)
centre

diameter
Uniform
Inertia
Solid Sphere
(radius r)
diameter
Uniform
(radius r)

Area,Volume and Arc Length
Servo Formulae
Sphere:
Motor Torque Constant
Motor Input Volts Circular Cone:
(h= vertical height,

Motor Regulation
I = slant height,
r = base radius & I2=h2+r 2)
Developed Torque
RMS Torque, = Circular

Cylinder:
Linear Rotary
Distance, Angle(m, rads)
Pyramid: x (base) x (perpendicular height)
Velocity,
(m/s, rads/second)
Acceleration,
(m/s2, rads/s2) Circle:
Force (N)
Torque (Nm) Frustrum of
Cone:
Power (W)
Kinetic Energy (J) Triangle:

Motion Equations
Servo Formulae
Velocity:
Eclipse:
Distance:
Spherical cap:

Gear Reduction
Belt Drive
Screw Drive
Inertia Matching
1. For fast acceleration, use 1:1 inertia match.

2. For minimum peak power, use reflected load inertia

2.5 times motor inertia.
3. Generally avoid load inertia higher than 5 times
Servo Formulae
motor inertia

RECTIFIER POWER CONVERSION FORMULAE

Table 1: Rectifier Power Conversion Formulae
Bridge Pulse Vdc Form Ripple AC Input Semiconductor Device

No Factor Current
ls Current Vr
p av f % rms av rms peak peak
2 V
Single-phase 3.14 Vdc
1 s
1.57 121 1.57 ldc ldc 1.57 ldc 3.14 ldc
Half-wave 1.41 Vs
0.45 Vs
Single-phase 2 V
3.14 Vdc
Half-wave 2 s
1.11 48 0.79 ldc 0.5 ldc 0.79 ldc 1.57 ldc
Center-tap 2.82 Vs
0.45 Vs
Single-phase 22 V
1.57 Vdc
Full-wave 2 s
1.11 48 1.11 ldc 0.5 ldc 0.79 ldc 1.57 ldc
Bridge 1.41 Vs
0.90 Vs
Three-phase 3 V
2.09 Vdc
Half-wave 3 2 s 1.017 18.3 0.59 ldc 0.33 ldc 0.59 ldc 1.21 ldc
Bridge 2.45 Vs
0.67 Vs
Three-phase 32 V
1.05 Vdc
Full-wave 6 s
1.001 4.2 0.82 ldc 0.33 ldc 0.59 ldc 1.05 ldc
Bridge 2.45 Vs
1.35 Vs
3 V
Six-phase 2.09 Vdc
6 2 s 1.001 4.2 0.41 ldc 0.17 ldc 0.41 ldc 1.05 ldc
Star Conn. 2.83 Vs
0.67 Vs
Rectifier Power Conversion Formulae
Double-3 3 V
2.09 Vdc
Star Conn. 6 2 s 1.001 4.2 0.29 ldc 0.17 ldc 0.29 ldc 1.53 ldc
with IGR 2.45 Vs
0.67 Vs
62 V
Series 0.53 Vdc
12 s
1.001 4.1 0.82 ldc 0.33 ldc 0.59 ldc 1.05 ldc
Star Conn. 1.23 Vs
0.67 Vs
32 V
Parallel 1.05 Vdc
12 s
1.001 4.1 0.41 ldc 0.17 ldc 0.29 ldc 0.53 ldc
Bridge 2.45 Vs
1.35 Vs
General Vdc(rms)
Calculations Vdc(av)
100(f2 - 1)1/2 Actual average output voltage = Vdc cos

MECHANICAL CONVERSION TABLE

Length
mm cm m inch foot yard km Mile

mm 1 10 -1
10 -3
3.937 x 10 -2
3.280 x 10 -3
1.093 x 10 -3
10 -6
6.213x10-7
cm 10 1 10-2 3.937 x 10-1 3.280 x 10-2 1.093 x 10-2 10-5 6.213x10-6
m 1000 100 1 39.3701 3.28084 1.09361 10-3 6.213x10-4
Inch 25.4 2.54 2.54 x 10-2 1 8.333 x 10-2 2.777 x 10-2 2.54 x 10-5 1.578x10-5
foot 304.8 30.48 3.048 x 10-1 12 1 3.333 x 10-1 3.048 x 10-4 1.893x10-4
yard 914.4 91.44 9.144 x 10-1 36 3 1 9.144 x 10-4 5.681x10-4
6
km 10 105 1000 39370.1 3280.84 1093.61 1 6.213x10-1
6
mile 1.609 x 10 160934 1609.34 63360 5280 1760 1.609 1
Mass
g kg oz lb US ton
g 1 10 -3
3.5274 x 10 -2
2.204 x 10 -3
1.102 x 10-6
kg 1000 1 35.274 2.20462 1.102 x 10-3
oz 28.2495 2.835 x 10-2 1 6.25 x 10-2 3.125 x 10-5
lb 453.592 4.536 x 10-1 16 1 5 x 10-4
US ton 907185 907.185 32 2000 1
Energy

Mechanical Conversion Table
J Wh kp m k cal BTU
J 1 2778 x 10 -4
1.019 x 10 -1
2.388 x 10 -4
9.478 x 10-4
Wh 3600 1 367.098 8.598 x 10-1 3.41214
kp m 9.80665 2.724 x 10-3 1 2.342 x 10-3 9.295 x 10-3
k cal 4186.8 1.163 426.935 1 3.96832
BTU 1055.06 2.931 x 10 -1
107.586 2.519 x 10 -1
1

302
Area
Chapter 19 pp
cm2 m2 are hect. km2 inch2 foot2 yard2 mile2 acre

2 -4 -6 -8 -10 -1 -3 -4 -11
cm 1 10 10 10 10 1.55 x 10 1.076 x 10 1.196 x 10 3.861 x 10 2.471 x 10-8
4/3/05
m2 10000 1 10-2 10-4 10-6 1550 10.7639 1.19599 3.861 x 10-7 2.471 x 10-4
are 106 100 1 10-2 10-4 155000 1076.39 119599 3.861 x 10-5 2.471 x 10-2
6:36 am
hectare 108 10000 100 1 10-2 1.55 x 107 107639 11959.9 3.861 x 10-3 2.47105
2 10 6 9 7 6 -1
km 10 10 10000 100 1 1.55 x 10 1.076 x 10 1.196 x 10 3.861 x 10 247.105
inch2 6.4516 6.4516 x 10-4 6.4516 x 10-6 6.4516 x 10-8 6.4516 x 10-10 1 6.944 x 10-3 7.716 x 10-4 2.491 x 10-10 1.594 x 10-7
Page 302
foot2 929.03 9.2903 x 10-2 9.2903 x 10-4 9.2903 x 10-6 9.2903 x 10-8 144 1 1.1111 x 10-1 3.587 x 10-8 2.295 x 10-5
yard2 8.36127 8.36127 x 10-1 8.36127 x 10-3 8.36127 x 10-5 8.36127 x 10-7 1296 9 1 3.228 x 10-7 2.066 x 10-4
mile2 2.589 x 1010 2.589 x 106 25899.9 258.999 2.58999 4.014 x 109 2.787 x 107 2.0976 x 106 1 640
7 -1 -3 -3
acre 4.046 x 10 4046.86 40.4686 4.04686x10 4.04686 x 10 6.272 x 106 43560 4840 1.5625 x 10 1
Volume
cm3 dm3 (=litre) inch3 foot3 yard3 US fl oz Imp fl oz US gal Imp gal Imp pint
3 -3 -2 -5 -6 -2 -2 -4 -4
cm 1 10 6.102 x 10 3.531 x 10 1.308 x 10 3.3814 x 10 3.519 x 10 2.641 x 10 2.199 x 10 1.759 x 10-3
dm3 1000 1 61.0237 3.531 x 10-2 1.308 x 10-3 33.814 35.1951 2.641 x 10-1 2.199 x 10-1 1.75975
inch3 16.3871 1.638 x 10-2 1 5.787 x 10-4 2.143 x 10-5 5.541 x 10-1 5.767 x 10-1 4.329 x 10-3 3.604 x 10-3 2.883 x 10-2
foot3 28316.8 28.3168 1728 1 3.7037 x 102 957.506 996.614 7.48052 6.22884 49.8307
3
yard 764555 764.555 46656 27 1 25852.7 26.908.6 201.974 168.179 1345.43
-2 -3 -5 -3 -3
US fl oz 29.5735 2.957 x 10 1.80469 1.044 x 10 3.868 x 10 1 1.04084 7.8125 x 10 6.505 x 10 5.204 x 10-2
Imp fl oz 28.4131 2.841 x 10-2 1.73387 1.003 x 10-3 3.716 x 10-5 9.6076 x 10-1 1 7.506 x 10-3 6.25 x 10-3 5 x 10-2
US gal 3785.41 3.78541 231 1.336 x 10-1 4.951 x 10-3 128 133.228 1 8.326 x 10-1 6.66139
-1 -3
Imp gal 4546.09 4.54609 277.149 1.605 x 10 5.946 x 10 153.772 160 1.20095 1 8
-1 -2 -4 -1 -1
Imp pint 568.261 5.682 x 10 34.6774 2.0068 x 10 7.432 x 10 19.2152 20 1.501 x 10 1.25 x 10 1
For further information, documentation and local support go to www.controltechniques.com

Inertia
kg cm2 kp cm s2 kg m2 kp m s2 oz in2 oz in s2 lb in2 lb in s2 lb ft2 lb ft s2
kg cm2 1 1.019 x 10-3 10-4 1.019 x 10-5 5.46748 1.416 x 10-2 3.417 x 10-1 8.850 x 10-4 2.373 x 10-3 7.375 x 10-5
kp cm s2 980.665 1 9.806 x 10-12 10-2 5361.76 13.8874 335.11 8.679 x 10-1 2.32715 7.233 x 10-2
kg m2 104 10.1927 1 1.019 x 10-1 54674.8 141.612 3417.17 8.85075 23.7304 7.375 x 10-1
kp m s2 98066.5 100 9.86065 1 536176 1388.74 33.511 86.7962 232.715 7.23301
oz in2 1.829 x 10-1 1.865 x 10-4 1.829 x 10-5 1.865 x 10-6 1 2.590 x 10-3 6.25 x 10-2 1.6188 x 10-4 2.340 x 10-4 7.349 x 10-5
oz in s2 70.6155 7.201 x 10-2 7.061 x 10-3 7.200 x 10-4 386.089 1 24.1305 6.25 x 10-2 1.675 x 10-1 5.208 x 10-3
lb in2 2.9264 2.984 x 10-3 2.9264 x 10-4 2.984 x 10-5 16 4.144 x 10-2 1 2.590 x 10-3 6.944 x 10-3 2.1548x10-4
lb in s2 1129.85 1.15212 1.29 x 10-1 1.152 x 10-2 6177.42 16 386.089 1 2.68117 8.333 x 10-2
lb ft2 421.401 4.297 x 10-1 4.214 x 10-2 4.2971 x 10-3 2304 5.96754 144 3.729 x 10-1 1 3.108 x 10-2
lb ft s2 13558.2 13.8255 1.355 1.382 x 10-1 74129 192 4633.06 12 32.174 1
Torque
N cm Nm kp cm kp m p cm oz in in lb ft lb
N cm 1 10-2 1.019 x 10-1 1.019 x 10-3 101.972 1.41612 8.850 x 10-2 7.375 x 10-3
Nm 100 1 10.1972 1.019 x 10-1 10197.2 141.612 8.85075 7.375 x 10-1
kp cm 9.80665 9.806 x 10-2 1 10-2 1000 13.8874 8.679 x 10-1 7.233 x 10-2
kp m 980.665 9.80665 100 1 105 1388.74 86.7962 7.23301
p cm 9.806 x 10-3 9.806 x 10-5 10-3 10-5 1 1.388 x 10-2 8.679 x 10-4 7.233 x 10-5
oz in 7.061 x 10-1 7.061 x 10-3 7.200 x 10-2 7.200 x 10-4 72.0078 1 6.25 x 10-2 5.208 x 10-3

in lb 11.2985 1.129 x 10-1 1.15212 1.152 x 10-2 1152.12 16 1 8.333 x 10-2
ft lb 135.582 1.35582 13.8225 1.382 x 10-1 13825.5 192 12 1
Force
N kp p oz lbf
N 1 1.019 x 10 -1
101.972 3.59694 2.248 x 10-1
kp 9.80665 1 1000 35.274 2.20462
p 9.806 x 10 -3
10 -3
1 3.5274 x 10 -2
2.204 x 10-3
oz 2.780 x 10-1 2.835 x 10-2 28.3495 1 6.25 x 10-2
lbf 4.44822 4.536 x 10-1 453.592 16 1
Power
kW PS hp kp m s-1 kcal s-1

kW 1 1.35962 1.34102 101972 2.388 x 10-1
PS 7.355 x 10-1 1 9.8632 x 10-1 75 1.756 x 10-1
hp 7.457 x 10-1 1.01387 1 76.0402 1.781 x 10-1
kp m s-1 9.806 x 10-3 1.333 x 10-2 1.3515 x 10-2 1 2.342 x 10-3
kcal s-1 4.1868 5.69246 5.61459 426.935 1

GENERAL CONVERSION TABLES Mass

Length SI UNIT - kilogram (kg)
To convert from: To: Multiply by:
SI UNIT - metre (m)
ton (Imperial) kg 1016
ton (U.S.) kg 907.2
Mile m 1609.344
tonne (metric) kg 103
Nautical Mile m 1853
slug kg 14.59
km m 103
lb kg 0.4536
cm m 10-2
oz kg 2.84 x 10-2
mm m 10-3
g kg 10-3
yd m 0.9144
ft m 0.3048
Force and Weight
in m 2.54 x 10-2
SI UNIT - Newton (N)
mil m 2.54 x 10-5
Area tonf (ton wt) N 9964
SI UNIT - square metre (m2) lbf (lb wt) N 4.448
To convert from: To: Multiply by: poundal N 0.1383
Square Miles m2 2.59 x 106 ozf (oz wt) N 0.2780
Acre m2 4047 kp N 9.807
Hectare ha m2 104 p N 9.81 x 10-2
km (sq. km)
2
m2 106 kgf (kg wt) N 9.807
cm2 m2 10-4 gf (g wt) N 9.81 x 10-2
mm2 m2 10-6 dyn N 10-5
yd 2
m2 0.8361
Pressure and Stress
ft2 m2 9.29 x 10-2

General Conversion Tables
SI UNIT - Pascal (Pa)

in2 m2 6.45 x 10-4
mil 2
m2 6.45 x 10-10
at (technical atmosphere) Pa 9.81 x 103
Volume in WG Pa 248.9
SI UNIT - cubic metre (m3) mm WG Pa 10.34
To convert from: To: Multiply by: in HG Pa 3385
yd3 m3 0.765 mm HG (torr) Pa 131.0
ft3 m3 2.83 x 10-2 kp cm-2 Pa 9.81 x 103
in3 m3 1.64 x 10-4 Nm-2 Pa 1.0
dm3 m3 10-3 bar Pa 105
Litre m3 10-3 lbf ft-2 Pa 47.88
Gallon (Imperial) m3 4.55 x 10-3 lbf in-2 Pa 6895
Gallon (U.S.) m3 3.79 x 10-3 kgf m-2 Pa 9.807
Pint (Imperial) m3 5.68 x 10-4 kgf cm-2 Pa 9.81 x 104
Pint (U.S.) m3 4.73 x 10-4

Velocity (Linear)
SI UNIT - metre per second (ms-1) Moment of Inertia

To convert from: To: Multiply by: SI UNIT - Kilogram metre2 (kgm2)
mph (mile per hour) ms-1 0.4470 To convert from: To: Multiply by:
ft min -1
ms-1 5.08 x 10-3 kgf m2 (GD2) kgm2 0.25
ft s-1 ms-1 0.3048 lbf ft2 (WK2) kgm2 4.21 x 10-2
km h -1
ms-1 0.2778 kp m s2 kgm2 9.807
m min-1 ms-1 1.67 x 10-2 ft lbf s 2
kgm2 1.356
knot ms-1 0.5145 lbf in2 kgm2 2.926 x 10-4
Velocity (Angular) ozf in 2
kgm2 1.829 x 10-5
SI UNIT - radians per second (rad s-1) Temperature
To convert from: To: Multiply by: SI UNIT - Kelvin (K)
rpm (revolutions per min) rad s-1 0.1037 (2/60) To convert from: To: Multiply by:
r s-1 (revolutions per sec) rad s-1 6.283 (2) C K x1
s (degrees per sec)
-1
rad s-1 1.75 x 10-2 (2/360) tC K t+273.15
Torque F K x 0.5555
SI UNIT - Newton meter (Nm) tF K (t-32) x 0.5555
To convert from: To: Multiply by: Flow
lbf ft Nm 1.356 SI UNIT - cubic metre per second (m3s-1)
lbf in Nm 0.1129 To convert from: To: Multiply by:
ozf in Nm 7.062 x 10-3 gallon per hour (Imp) m3s-1 1.26x10-6
kgf m Nm 9.8067 gallon per hour (US) m3s-1 1.05x10-6
kp m Nm 9.8067 litre per hour m3s-1 1.67x10-5
Energy litre per second m3s-1 10-3
SI UNIT - Joule (J) cfm m3s-1 4.72x10-4
To convert from: To: Multiply by: mh 3 -1
m3s-1 2.78x10-4

General Conversion Tables
Btu J 1.055 x 103 m3min-1 m3s-1 1.67x10-2
therm (105 btu) J 1.055 x 108 Torque
cal J 4.187 SI UNIT - Newton metre (Nm)
ft lbf (ft lb wt) J 1.356 To convert from: To: Multiply by:
ft poundal J 0.0421 lb ft Nm 1.356
Power lb in Nm 0.1129
SI UNIT - kilowatt (kW) oz in Nm 7.062 x 10-3
To convert from: To: Multiply by: Nm lb ft 0.7375
hp kW 0.7457 Nm lb ft 8.857
ps kW 0.7355 Nm oz in 141.6
ch, CV kW 0.7355 Force
Btu s-1 kW 1.055 SI UNIT - Newton (N)

kcal s-1 kW 4.1868 To convert from: To: Multiply by:
ft lbf s-1 kW 1.36 x 10-3 lb(f) N 4.4482
Moment of Inertia N lb(f) 0.22481
SI UNIT - kilogram metre2 (kgm2) Linear Acceleration
To convert from: To: Multiply by: SI UNIT - metre per second2 (ms-2)
lb in s2 kgm2 0.113 To convert from: To: Multiply by:
oz in s2 kgm2 7.06155 x 10-2 in s -2
ms-2 2.54 x 10-2
kg m 2
lb in s2 8.85075 ft s-2 ms-2 0.3048
kg m2 oz in s2 141.612 ms -2
in s-2 39.37
kg cm 2
kg m2 10-4 ms-2 ft s-2 3.2808

Front & Back Cover 7/3/05 3:24 pm Page 2
. . . . . . . . . . . .
Driving the world... . . . . . . . . . . . .
AUSTRALIA
. .Centres
Drive & Application . . CZECH REPUBLIC HOLLAND Vicenza Drive Centre
. .
Bilbao Application Centre
. .
TURKEY
. . . .
Melbourne Application Centre
A.C.N. 003 815 281
Tel: 613 973 81777
. . . . Brno Drive Centre
Tel: 420 541 192111
Fax: 420 541 192115
Rotterdam Drive Centre
Tel: 31 184 420555
Fax: 31 184 420721
Tel: 39 0444 396200
Fax: 39 0444 341317
After Hours: 39 02 575 751
. .
Tel: 34 94 620 3646
Fax: 34 94 681 1406
After Hours: 34 61 055 4547
. . .
Istanbul Drive Centre
Tel: 90 216 4182420
Fax: 90 216 4182423
. . .
Fax: 613 9729 3200 After Hours: 420 541 192 119 After Hours: 31 184 420555 After Hours: 90 216 418 2420
After Hours: 61 2 9963 5271 KOREA Valencia Drive Centre
DENMARK HONG KONG Seoul Application Centre Tel: 34 96 154 2900 UAE
Sydney Drive Centre Copenhagen Drive Centre Hong Kong Application Centre Tel: 82 31 703 7169 Fax: 34 96 153 2906 Dubai Application Centre
A.C.N. 003 815 281 Tel: 45 4369 6100 Tel: 852 2979 5271 Fax: 82 31 703 7168 After Hours: 34 66 642 8514 Tel: 971 4 883 8650
Tel: 61 2 9838 7222 Fax: 45 4369 6101 Fax: 852 2979 5220 After Hours: 82 31 703 7185 Fax: 971 4 883 8651
Fax: 61 2 9838 7764 After Hours: 45 4369 6100 After Hours: 852 2979 5271 SWEDEN
After Hours: 61 2 9963 5271 MALAYSIA Stockholm Application Centre UNITED KINGDOM
FINLAND INDIA Kuala Lumpur Drive Centre Tel: 468 554 241 00 Telford Drive Centre
AUSTRIA Helsinki Drive Centre Mumbai Application Centre Tel: 603 5634 9776 Fax: 468 554 241 10 Tel: 44 1952 213700
Linz Drive Centre Tel: 358 985 2661 Tel: 91 20 612 7956, 612 8415 Fax: 603 5633 9592 After Hours: 467 044 183 29 Fax: 44 1952 213701
Tel: 43 7229 789480 Fax: 358 985 26823 Fax: 91 20 611 3312 After Hours: 60 12 333 8355 After Hours: 44 1952 213700
Fax: 43 7229 7894810 After Hours: 358 500 423271 SWITZERLAND
After Hours: 43 7215 3502 Kolkata Application Centre REPUBLIC OF Lausanne Application Centre USA
FRANCE Tel: 91 33 2357 5302/2357 5306 SOUTH AFRICA Tel: 41 21 637 7070 Charlotte Application Centre
BELGIUM Angouleme Drive Centre Fax: 91 33 2357 3435 Johannesburg Drive Centre Fax: 41 21 637 7071 Tel: 1 704 393 3366
Brussels Drive Centre Tel: 33 5 4564 5454 After Hours: 91 98 3004 8562 Tel: 27 11 462 1740 After Hours: 41 79 357 8683 Fax: 1 704 393 0900
Tel: 32 1574 0700 Fax: 33 5 4564 5400 Fax: 27 11 462 1941 After Hours: 1 800 893 2321
Fax: 32 1574 0799 Chennai Drive Centre After Hours: 27 11 462 1740 Zurich Drive Centre
GERMANY Tel: 91 44 2496 1123/ Tel: 41 56 201 4242 Chicago Application Centre
BRAZIL Bonn Drive Centre 2496 1130/2496 1083 RUSSIA Fax: 41 56 201 4243 Tel: 1 630 752 9090
Sao Paolo Application Centre Tel: 49 2242 8770 Fax: 91 44 2496 1602 Moscow Application Centre After Hours: 41 79 357 8683 Fax: 1 630 752 9555
Tel: 55 11 3618 5959 Fax: 49 2242 877277 After Hours: 91 44 2496 1083 Tel: 7 095 232 9472 After Hours: 1 800 893 2321
Fax: 55 11 3618 6611 After Hours: 49 1714 964777 Fax: 7 095 956 4862 TAIWAN
New Delhi Application Centre Taipei Application Centre Cleveland Drive Centre
CANADA Chemnitz Drive Centre Tel: 91 11 2 576 4782/ SINGAPORE Tel: 886 22325 9555 Tel: 1 440 717 0123
Toronto Drive Centre Tel: 49 3722 52030 91 11 2 581 3166 Singapore Drive Centre Fax: 886 22705 9131 Fax: 1 440 717 0133
Tel: 1 905 201 4699 Fax: 49 3722 520330 Fax: 91 11 51 539216 Tel: 65 6468 8979 After Hours: 886 92186 6502 After Hours: 1 800 893 2321
Fax: 1 905 201 4694 After Hours: 49 1714 964777 Fax: 65 6468 6982
After Hours: 1 800 893 2321 IRELAND After Hours: 65 9752 5828/ THAILAND Minneapolis US Headquarters
Darmstadt Drive Centre Dublin Drive Centre 9636 0323 Bangkok Drive Centre Tel: 1 952 995 8000
CHINA Tel: 49 6251 17700 Tel: 353 45 448200 Tel: 66 2580 7644 Fax: 1 952 995 8020/8099
Shanghai Drive Centre Fax: 49 6251 177098 Fax: 353 45 433622 SPAIN Fax: 66 2591 4559 After Hours: 1 800 893 2321
Tel: 86 21 5426 0668 After Hours: 49 1714 964777 Barcelona Drive Centre A/Hours Sales: 66 1443 4095
Fax: 86 21 5426 0669 ITALY Tel: 34 93 680 1661 A/Hours Service: 66 1443 4098 Providence Drive Centre
GREECE Milan Drive Centre Fax: 34 93 680 0903 Tel: 1 401 541 7277
Beijing Application Centre Athens Application Centre Tel: 39 02575 751 /34 93 680 2823 Fax: 1 401 541 7266
Tel: 86 10 856 31122 ext 820 Tel: 0030 210 57 86086/088 Fax: 39 02575 12858 After Hours: 34 610 554540 After Hours: 1 800 893 2321
Fax: 86 10 856 35029 Fax: 0030 210 57 86087 After Hours: 39 02575 751
Drive & Application Centres
Distributors
ARGENTINA ROMANIA
Euro Techniques SA Dor Drives International
Tel: 54 11 4331 7820 Tel: 40 21 337 3465
eurotech@eurotechsa.com.ar dordrive@zappmobile.ro
CYPRUS
BAHRAIN Acme Industrial Electronic SAUDI ARABIA
Iftikhar Electrical Est. Services Ltd A. Abunayyan Electric Corp.
Tel: 973 271 116
ieepower@batelco.com.bh
Tel: 3572 5 332181
acme@cytanet.com.cy
Distributors Tel: (9661) 477 9111
aec-salesmarketing@
TUNISIA
SIA Ben Djemaa & CIE
abunayyangroup.com Tel: 216 1 332 923
BRAZIL EGYPT Email: bendjemaa@planet.tn
ACIEL Comercio e Servicos LTDA Samiram POLAND SERBIA & MONTENEGRO
Tel: 55 11 5565 5798 Tel: 202 7603877/202 7605950 MEXICO Master Inzenjering d.o.o URUGUAY
APATOR CONTROL Sp. z o.o
aciel@aciel.com.br corporate@samiram.com MELCSA Tel: 381 24 551 605 Secoin S.A
Tel: 48 56 6191 207
KENYA Tel: 52 5 561 1312 master@eunet.yu Tel: 5982 2093815
Positronic Sistemas Industrias Ltda. drives@apator.torun.pl
HUNGARY Kassam & Bros Co. Ltd melcsamx@iserve.net.mx Email: secoin@adinet.com.uy
Tel: 55 11 3832 2738 Control-VH Kft Tel: 2540 2 556 418 SLOVAKIA
info@positronic.com.br SERVITECK, S.A de C.V PORTUGAL
Tel: 361 431 1160 650268 557136 Tel: 52 5 398 3380 Harker Sumner S.A EMERSON A.S VENEZUELA
info@controlvh.hu kasbro@insightkenya.com servitek@data.net.mx Tel: 351 22 947 8090 Tel: +421 32 7700 369 Vertix Instrumentos, S.A
CHILE drives.automation@harker.pt petersk@vuma.sk Tel: 58 281 267 4115
Ingeniera Y Desarrollo ICELAND KUWAIT MOROCCO
Techlogio S.A Samey ehf Saleh Jamal & Company WLL Leroy Somer Maroc QATAR SLOVENIA VIETNAM
Tel: 56 (2) 741 9624 Tel: 354 510 5200 Tel: 965 483 2358 Tel: 212 22 354948 AFI Sitna Technologies PS Logatec N.Duc Thinh
idt@idt.cl samey@samey.is sjceng@almullagroup.com Ismaroc@wanadoopro.ma Tel: 974 468 4442 Tel: 386 1 750 8510 Tel: 84 8 9490633
jp33@qatar.net.qa Email: ps-log@ps-log.si Email: infotech@nducthinh.com.vn
COLOMBIA INDONESIA LEBANON NEW ZEALAND
Sistronic LTDA Pt Apikon Indonesia Black Box Automation & Control Electrade New Zealand
Tel: 57 1 410 04 24 Tel: 65 6468 8979 Tel: 961 1 443773 Tel: 64 9525 1753
jonesdug@colomsat.net.co ooiwc@controltechniques.com.my info@blackboxcontrol.com kevin@electrade.co.nz
CROATIA ISRAEL MALTA PHILIPPINES

Koncar MES d.d. Dor Drives Systems Ltd Mekanika Limited Bussbarr Corp.
Tel: 385 1 366 7273 Tel: 972 3900 7595 Tel: 35621 442 039 Tel: 632 776 0066
nabava@koncar-mes.hr info@dor1.co.il mfrancica@gasan.com sales@bussbarr.com.ph
Control Techniques 2005. The information contained in this brochure is for

guidance only and does not form part of any contract.The accuracy cannot be
guaranteed as Control Techniques have an ongoing process of development
and reserve the right to change the specification of their products without notice. P.N. 0109-0000 04/05

Ac DC Servo Drive

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Front & Back Cover 7/3/05 3:21 pm Page 3

1 Control Techniques at a glance ............................................................6 2.3 Commander SX IP66 solutions ....................................................32

2.1 Commander SK Simplicity and Functionality ......................14 Dimensions......................................................................................................37

2 For further information, documentation and local support go to www.controltechniques.com

Communication..................................................................................56 5 DC Servo Drives and Motors..............................................................92

For further information, documentation and local support go to www.controltechniques.com 3

Application Co-processor Modules.....................................111 Terminal diagram.......................................................................................158

SM-EZ Motion Dimensions ...................................................................................................159

4 For further information, documentation and local support go to www.controltechniques.com

MAx & Unimotor SLM selection 12.3 Operator Interfaces ...............................................................................241

11 Automation Hierarchy selection...................................................230 18 Training at Control Techniques.......................................................288

For further information, documentation and local support go to www.controltechniques.com 5

Strength through Synergy

6 For further information, documentation and local support go to www.controltechniques.com

Customer focussed from concept to

Solutions through Innovation

Drive & Servo Range

result the drives are ergonomically designed for quick Cheetah

For further information, documentation and local support go to www.controltechniques.com 7

Drive Centre Engineered Solutions

Integrating drive solutions that deliver productivity

Our unique focus is based on

Local understanding of your machine

Local understanding of your machine or process

Local engineers that are familiar

8 For further information, documentation and local support go to www.controltechniques.com

Drive Centre Engineered Solutions

Matching drive integration features to

Tailoring the drive solution to the application

Versatility of the drive solution

For further information, documentation and local support go to www.controltechniques.com 9

Drives, Servos and Controls that deliver productivity

Simple and Easy Drives

Solutions Platform Drives

10 For further information, documentation and local support go to www.controltechniques.com

Drives, Servos and Controls

For further information, documentation and local support go to www.controltechniques.com 11

GENERAL PURPOSE AC DRAWINGS

Commander Commander Commander

Control Technology Open Loop Open Loop Open Loop

Configuration & SESoft SXSoft CTSoft

Input Output Input Output Input Output

12 For further information, documentation and local support go to www.controltechniques.com

SOLUTIONS PLATFORM AC AND DC DRIVES

For further information, documentation and local support go to www.controltechniques.com 13

s i m p l e Accurate Control Payoff

However, for more demanding applications, Commander SK

From 0.25 to 2.2kW, 1 phase 200V

Easy installation choose between simple panel

14 For further information, documentation and local support go to www.controltechniques.com

FEATURE PERFORMANCE RATINGS

Feature Performance; Ratings

For further information, documentation and local support go to www.controltechniques.com 15

Modbus RTU (RS485) OK

16 For further information, documentation and local support go to www.controltechniques.com

SPECIFICATION Approvals & Listings

Dynamic motor flux V/Hz for energy saving

For further information, documentation and local support go to www.controltechniques.com 17

Options At-A-Glance Panel

Configuration Tool CTSoft

Programming block programming

18 For further information, documentation and local support go to www.controltechniques.com

DRIVE CONFIGURATION AND Communications Cable